Articulation control system for articulatable surgical instruments

ABSTRACT

A surgical instrument comprises an end effector, a shaft, and a housing extending proximally from the shaft. The end effector is movable relative to the shaft between an articulation home state position and an articulated position and comprises a surgical stapler including a plurality of staples and a firing member that fires the plurality of staples. The firing member is movable between a firing home state position and a fired position. The housing includes a motor operably supported by the housing, a controller in communication with the motor, and a home state input configured to transmit a home state input signal to the controller which is configured to activate the motor in response to the home state input signal to effectuate a return of the end effector to the articulation home state position and a return of the firing member to the firing home state position.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical cutting and stapling instruments and staplecartridges therefor that are designed to cut and staple tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofembodiments of the invention taken in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of a surgical instrument comprising ahandle, a shaft, and an articulatable end effector;

FIG. 2 is an elevational view of the surgical instrument of FIG. 1;

FIG. 3 is a plan view of the surgical instrument of FIG. 1;

FIG. 4 is a cross-sectional view of the end effector and the shaft ofthe surgical instrument of FIG. 1;

FIG. 5 is a detail view of an articulation joint which rotatableconnects the shaft and the end effector of FIG. 1 which illustrates theend effector in a neutral, or centered, position;

FIG. 6 is a cross-sectional view of an articulation control of thesurgical instrument of FIG. 1 in a neutral, or centered, position;

FIG. 7 is an exploded view of the end effector, elongate shaft, andarticulation joint of the surgical instrument of FIG. 1;

FIG. 8 is a cross-sectional view of the end effector, elongate shaft,and articulation joint of the surgical instrument of FIG. 1;

FIG. 9 is a perspective view of the end effector, elongate shaft, andarticulation joint of the surgical instrument of FIG. 1;

FIG. 10 depicts the end effector of the surgical instrument of FIG. 1articulated about the articulation joint;

FIG. 11 is a cross-sectional view of the articulation control of FIG. 6actuated to move the end effector as shown in FIG. 12;

FIG. 12 is a perspective view of a surgical instrument comprising ahandle, a shaft, and an articulatable end effector;

FIG. 13 is a side view of the surgical instrument of FIG. 12;

FIG. 14 is a perspective view of a firing member and a pinion gearpositioned within the handle of FIG. 12;

FIG. 15 is a perspective view of the firing member and the pinion gearof FIG. 14 and a gear reducer assembly operably engaged with the piniongear;

FIG. 16 is a perspective view of the handle of FIG. 12 with portionsthereof removed to illustrate the firing member and the pinion gear ofFIG. 14, the gear reducer assembly of FIG. 15, and an electric motorconfigured to drive the firing member distally and/or proximallydepending on the direction in which the electric motor is turned;

FIG. 17 is a perspective view of a surgical instrument comprising ahandle, a shaft, an end effector, and an articulation joint connectingthe end effector to the shaft illustrated with portions of the handleremoved for the purposes of illustration;

FIG. 18 is a cross-sectional view of the surgical instrument of FIG. 17;

FIG. 19 is an exploded view of the surgical instrument of FIG. 17;

FIG. 20 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrated with the end effector in an open configuration, thearticulation joint in an unlocked configuration, and an articulationlock actuator of the surgical instrument handle illustrated in anunlocked configuration;

FIG. 21 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the end effector in an articulated, openconfiguration, the articulation joint in an unlocked configuration, andan articulation driver engaged with a firing member of the surgicalinstrument of FIG. 17, wherein the movement of the firing member canmotivate the articulation driver and articulate the end effector;

FIG. 22 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the end effector in a closed configuration, thearticulation joint in an unlocked configuration, and an end effectorclosing drive being actuated to close the end effector and move thearticulation lock actuator into a locked configuration;

FIG. 22A is a cross-sectional detail view of the handle of the surgicalinstrument of FIG. 17 illustrated in the configuration described withregard to FIG. 22;

FIG. 23 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the end effector in a closed configuration and thearticulation joint in a locked configuration, wherein the actuatedclosing drive prevents the articulation lock actuator from being movedinto its unlocked configuration illustrated in FIGS. 20-22;

FIG. 24A is a plan view of the articulation joint of the surgicalinstrument of FIG. 17 illustrated in a locked configuration;

FIG. 24B is a plan view of the articulation joint of the surgicalinstrument of FIG. 17 illustrated in an unlocked configuration;

FIG. 25 is a cross-sectional detail view of the handle of the surgicalinstrument of FIG. 17 illustrating the articulation driver disconnectedfrom the firing member by closure drive;

FIG. 26 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the firing member in an at least partially firedposition and the articulation driver disconnected from the firing memberby the closure drive;

FIG. 27 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating end effector in a closed configuration, thearticulation joint and the articulation joint actuator in a lockedconfiguration, and the firing member in a retracted position;

FIG. 28 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the end effector in an open configuration, the endeffector closing drive in a retracted position, and the articulationjoint in a locked configuration;

FIG. 29 is a cross-sectional detail view of the surgical instrument ofFIG. 17 illustrating the end effector in an open configuration and thearticulation joint and the articulation joint actuator in an unlockedconfiguration wherein the articulation driver can be reconnected to thefiring drive and utilized to articulate the end effector once again;

FIG. 30 is an exploded view of a shaft and an end effector of a surgicalinstrument including an alternative articulation lock arrangement;

FIG. 31 is a cross-sectional elevational view of the end effector andthe shaft of the surgical instrument of FIG. 30 illustrating the endeffector in an unlocked configuration;

FIG. 32 is a cross-sectional elevational view of the end effector andthe shaft of the surgical instrument of FIG. 30 illustrating the endeffector in a locked configuration;

FIG. 33 is an assembly view of one form of surgical system including asurgical instrument and a plurality of interchangeable shaft assemblies;

FIG. 34 is a perspective view of a surgical instrument handle coupled toan interchangeable shaft assembly;

FIG. 35 is an exploded perspective view of the surgical instrumenthandle of FIG. 34;

FIG. 36 is a side elevational view of the handle of FIG. 35 with aportion of the handle housing removed;

FIG. 37 is an exploded perspective view of an interchangeable shaftassembly;

FIG. 38 is a side elevational assembly view of a portion of the handleand interchangeable shaft assembly of FIG. 34 illustrating the alignmentof those components prior to being coupled together and with portionsthereof omitted for clarity;

FIG. 39 is a perspective view of a portion of an interchangeable shaftassembly prior to attachment to a handle of a surgical instrument;

FIG. 40 is a side view of a portion of an interchangeable shaft assemblycoupled to a handle with the lock yoke in a locked or engaged positionwith a portion of the frame attachment module of the handle;

FIG. 41 is another side view of the interchangeable shaft assembly andhandle of FIG. 40 with the lock yoke in the disengaged or unlockedposition;

FIG. 42 is a top view of a portion of an interchangeable shaft assemblyand handle prior to being coupled together;

FIG. 43 is another top view of the interchangeable shaft assembly andhandle of FIG. 42 coupled together;

FIG. 44 is a side elevational view of an interchangeable shaft assemblyaligned with a surgical instrument handle prior to being coupledtogether;

FIG. 45 is a front perspective view of the interchangeable shaftassembly and surgical instrument handle of FIG. 44 with portions thereofremoved for clarity;

FIG. 46 is a side view of a portion of an interchangeable shaft assemblyaligned with a portion of a surgical instrument handle prior to beingcoupled together and with portions thereof omitted for clarity;

FIG. 47 is another side elevational view of the interchangeable shaftassembly and handle of FIG. 46 wherein the shaft assembly is in partialcoupling engagement with the handle;

FIG. 48 is another side elevational view of the interchangeable shaftassembly and handle of FIGS. 46 and 47 after being coupled together;

FIG. 49 is another side elevational view of a portion of aninterchangeable shaft assembly aligned with a portion of handle prior tocommencing the coupling process;

FIG. 50 is a top view of a portion of another interchangeable shaftassembly and a portion of another surgical instrument frame arrangement;

FIG. 51 is another top view of the interchangeable shaft assembly andframe portion of FIG. 50 after being coupled together;

FIG. 52 is an exploded perspective view of the interchangeable shaftassembly and frame portion of FIG. 50;

FIG. 53 is another exploded perspective view of the interchangeableshaft assembly and frame portion of FIG. 52 with the shaft attachmentmodule of the shaft assembly in alignment with the frame attachmentmodule of the frame portion prior to coupling;

FIG. 54 is a side elevational view of the interchangeable shaft assemblyand frame portion of FIG. 52;

FIG. 55 is a perspective view of the interchangeable shaft assembly andframe portion of FIGS. 53 and 54 after being coupled together;

FIG. 56 is a side elevational view of the interchangeable shaft assemblyand frame portion of FIG. 55;

FIG. 57 is another perspective view of the interchangeable shaftassembly and frame portion of FIGS. 55 and 56 with portions thereofomitted for clarity;

FIG. 58 is a top view of a portion of another interchangeable shaftassembly and frame portion of a surgical instrument prior to beingcoupled together;

FIG. 59 is another top view of the interchangeable shaft assembly andframe portion of FIG. 58 after being coupled together;

FIG. 60 is a perspective view of the interchangeable shaft assembly andframe of FIGS. 58 and 59 prior to being coupled together;

FIG. 61 is another perspective view of the interchangeable shaftassembly and frame portion of FIGS. 58-60 after being coupled together;

FIG. 62 is another perspective view of the interchangeable shaftassembly and frame portion of FIGS. 58-60 after being coupled together,with portions of the shaft assembly shown in cross-section;

FIG. 63 is an exploded perspective assembly view of another end effectorshaft assembly and frame portion of a surgical instrument;

FIG. 64 is a top exploded assembly view of the end effector shaftassembly and frame portion of FIG. 63;

FIG. 65 is another exploded perspective assembly view of the endeffector shaft assembly and frame portion of FIGS. 63 and 64;

FIG. 66 is a perspective view of the end effector shaft assembly andframe portion of FIGS. 63-65 after being coupled together;

FIG. 67 is a side elevational view of the end effector shaft assemblyand frame portion of FIG. 66 with portions thereof omitted for clarity;

FIG. 68 is a top exploded assembly view of another end effector shaftassembly and frame portion of another surgical instrument;

FIG. 69 is a perspective exploded assembly view of the end effectorshaft assembly and frame portion of FIG. 68;

FIG. 70 is another perspective assembly view of the end effector shaftassembly and frame portion of FIGS. 68 and 69 with the end effectorshaft assembly prior to being latched in coupled engagement with theframe portion;

FIG. 71 is a top view of the end effector shaft assembly and frameportion of FIG. 70;

FIG. 72 is a top view of the end effector shaft assembly and frameportion of FIGS. 68-71 after being coupled together;

FIG. 73 is a side elevational view of the end effector shaft assemblyand frame portion of FIG. 72;

FIG. 74 is a perspective view of the end effector shaft assembly andframe portion of FIGS. 72 and 73;

FIG. 75 is an exploded assembly view of an interchangeable shaftassembly and corresponding handle with some components thereof shown incross-section;

FIG. 76 is a partial cross-sectional perspective view of portions of theend effector shaft assembly and the handle of FIG. 75;

FIG. 77 is a partial perspective view of the end effector shaft assemblyand handle of FIGS. 75 and 76 coupled together with various componentsomitted for clarity;

FIG. 78 is a side elevational view of the end effector shaft assemblyand handle of FIG. 77;

FIG. 79 is a side elevational view of the end effector shaft assemblyand handle of FIGS. 75-78 coupled together with the closure drive in anunactuated position and with some components shown in cross-section;

FIG. 80 is another side elevational view of the end effector shaftassembly and handle of FIG. 79 with the closure drive in a fullyactuated position;

FIG. 81 is an exploded assembly view of an interchangeable shaftassembly and corresponding handle with some components thereof omittedfor clarity and wherein the closure drive system is in a lockedorientation;

FIG. 82 is a side view of the end effector shaft assembly and handle ofFIG. 81 coupled together with various components omitted for clarity andwherein the closure drive system is in an unlocked and unactuatedposition;

FIG. 83 is a side view of the end effector shaft assembly and handle ofFIG. 82 with various components shown in cross-section for clarity;

FIG. 84 is a side view of the end effector shaft assembly and handle ofFIGS. 81-83 coupled together with various components omitted for clarityand wherein the closure drive system is in an actuated position;

FIG. 85 is a side view of the end effector shaft assembly and handle ofFIG. 84 with various components shown in cross-section for clarity;

FIG. 86 is an exploded perspective assembly view of a portion of aninterchangeable shaft assembly and a portion of a handle of a surgicalinstrument;

FIG. 87 is a side elevational view of the portions of theinterchangeable shaft assembly and handle of FIG. 86;

FIG. 88 is another exploded perspective assembly view of portions of theinterchangeable shaft assembly and handle of FIGS. 86 and 87 withportions of the interchangeable shaft assembly shown in cross-sectionfor clarity;

FIG. 89 is another side elevational view of portions of theinterchangeable shaft assembly and handle of FIGS. 86-88 with portionsthereof shown in cross-section for clarity;

FIG. 90 is a side elevational view of the portions of theinterchangeable shaft assembly and handle of FIGS. 86-89 after theinterchangeable shaft assembly has been operably coupled to the handleand with portions of thereof shown in cross-section for clarity;

FIG. 91 is another side elevational view of portions of theinterchangeable shaft assembly and handle coupled thereto with theclosure drive system in a fully-actuated position;

FIG. 92 is an exploded perspective assembly view of a portion of anotherinterchangeable shaft assembly and a portion of a handle of anothersurgical instrument;

FIG. 93 is a side elevational view of portions of the interchangeableshaft assembly and handle of FIG. 92 in alignment prior to being coupledtogether;

FIG. 94 is another exploded perspective view of the interchangeableshaft assembly and handle of FIGS. 92 and 93 with some portions thereofshown in cross-section;

FIG. 95 is another perspective view of the interchangeable shaftassembly and handle of FIGS. 92-94 coupled together in operableengagement;

FIG. 96 is a side elevational view of the interchangeable shaft assemblyand handle of FIG. 95;

FIG. 97 is another side elevational view of the interchangeable shaftassembly and handle of FIG. 96 with some components thereof shown incross-section;

FIG. 98 is another side elevational view of the interchangeable shaftassembly and handle of FIGS. 92-96 with the closure trigger in a fullyactuated position;

FIG. 99 is a perspective view of a portion of another interchangeableshaft assembly that includes a shaft locking assembly arrangement;

FIG. 100 is a perspective view of the shaft locking assembly arrangementdepicted in FIG. 99 in a locked position with the intermediate firingshaft portion of the firing member of an interchangeable shaft assembly;

FIG. 101 is another perspective view of the shaft locking assembly andintermediate firing member portion with the shaft locking assembly in anunlocked position;

FIG. 102 is a schematic illustrating, one, a clutch assembly foroperably connecting an articulation drive to a firing drive of asurgical instrument and, two, an articulation lock configured toreleasably hold the articulation drive, and an end effector of thesurgical instrument, in position, wherein FIG. 102 illustrates theclutch assembly in an engaged position and the articulation lock in alocked condition;

FIG. 103 is a schematic illustrating the clutch assembly of FIG. 102 inits engaged position and the articulation lock of FIG. 102 in a firstunlocked condition which permits the articulation of the end effector ofFIG. 102 in a first direction;

FIG. 104 is a schematic illustrating the clutch assembly of FIG. 102 inits engaged position and the articulation lock of FIG. 102 in a secondunlocked condition which permits the articulation of the end effector ofFIG. 102 in a second direction;

FIG. 104A is an exploded view of the clutch assembly and thearticulation lock of FIG. 102;

FIG. 105 is a partial perspective view of a shaft assembly including theclutch assembly of FIG. 102 in its engaged position with portions of theshaft assembly removed for the purposes of illustration;

FIG. 106 is a partial top plan view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in its engaged position;

FIG. 107 is a partial bottom plan view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in its engaged position;

FIG. 108 is a partial perspective view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in its engaged positionwith additional portions removed for the purposes of illustration;

FIG. 109 is a partial perspective view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in a disengaged positionwith additional portions removed for the purposes of illustration;

FIG. 110 is a partial perspective view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 moved into a disengagedposition by a closure drive of the shaft assembly;

FIG. 111 is a partial plan view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in its engaged positionwith additional portions removed for the purposes of illustration;

FIG. 112 is a partial plan view of the shaft assembly of FIG. 105illustrating the clutch assembly of FIG. 102 in a disengaged positionwith additional portions removed for the purposes of illustration;

FIG. 113 is a plan view of an alternative embodiment of an articulationlock illustrated in a locked condition;

FIG. 114 is an exploded view of the articulation lock of FIG. 113;

FIG. 115 is a cross-sectional view of another alternative embodiment ofan articulation lock illustrated in a locked condition;

FIG. 116 is an exploded view of the articulation lock of FIG. 114;

FIG. 117 is a perspective view of another alternative embodiment of anarticulation lock illustrated in a locked condition;

FIG. 118 is an exploded view of the articulation lock of FIG. 117;

FIG. 119 is an elevational view of the articulation lock of FIG. 117illustrating the articulation lock illustrated in a locked condition;

FIG. 120 is an elevational view of the articulation lock of FIG. 117illustrating the articulation lock in a first unlocked condition toarticulate an end effector in a first direction;

FIG. 121 is an elevational view of the articulation lock of FIG. 117illustrating the articulation lock in a second unlocked condition toarticulate an end effector in a second direction;

FIG. 122 is another exploded view of the articulation lock of FIG. 117;

FIG. 123 is a perspective view of a first lock cam of the articulationlock of FIG. 117;

FIG. 124 is a perspective view of a second lock cam of the articulationlock of FIG. 117;

FIG. 125 is a perspective view of another alternative embodiment of anarticulation lock illustrated in a locked condition;

FIG. 126 is an exploded view of the articulation lock of FIG. 125;

FIG. 127 is a cross-sectional elevational view of the articulation lockof FIG. 125 illustrating the articulation lock in a first unlockedcondition for articulating an end effector in a first direction;

FIG. 128 is a cross-sectional elevational view of the articulation lockof FIG. 125 illustrating the articulation lock in a locked condition;

FIG. 129 is a cross-sectional elevational view of the articulation lockof FIG. 125 illustrating the articulation lock in a second unlockedcondition for articulating an end effector in a second direction;

FIG. 130 is a cross-sectional elevational view of the articulation lockof FIG. 125 illustrating the articulation lock in a locked condition;

FIG. 131 is a perspective view of a shaft assembly;

FIG. 132 is an exploded view of the shaft assembly of FIG. 131illustrating an alternative embodiment of a clutch assembly for operablyconnecting an articulation drive with a firing drive of the shaftassembly;

FIG. 133 is another exploded view of the shaft assembly of FIG. 131;

FIG. 134 is a partial exploded view of the shaft assembly of FIG. 131illustrated with portions removed for the purposes of illustration;

FIG. 135 is an end view of the shaft assembly of FIG. 131 illustratedwith portions removed for the purposes of illustration;

FIG. 136 is another end view of the shaft assembly of FIG. 131illustrated with portions removed for the purposes of illustration;

FIG. 137 is a partial cross-sectional elevational view of the shaftassembly of FIG. 131;

FIG. 138 is a partial cross-sectional perspective view of the shaftassembly of FIG. 131;

FIG. 139 is another partial cross-sectional view of the shaft assemblyof FIG. 131;

FIG. 140 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, aclutch actuator is illustrated while a clutch sleeve, a switch drum, aproximal articulation driver, and a closure tube are not illustrated;

FIG. 141 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator and the clutch sleeve are illustrated while the switchdrum, the proximal articulation driver, and the closure tube are notillustrated;

FIG. 142 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in a disengaged position andillustrated with portions removed for the purposes of clarity;specifically, the clutch actuator and the clutch sleeve are illustratedwhile the switch drum, the proximal articulation driver, and the closuretube are not illustrated;

FIG. 143 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in a disengaged position andillustrated with portions removed for the purposes of clarity;specifically, the clutch actuator, the clutch sleeve, and the closuretube are illustrated while the switch drum and the proximal articulationdriver are not illustrated;

FIG. 144 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in a disengaged position; the clutchactuator, the clutch sleeve, the closure tube, the switch drum, and theproximal articulation driver are illustrated;

FIG. 145 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator, the clutch sleeve, and the proximal articulation driverare illustrated while the switch drum and the closure tube are notillustrated;

FIG. 146 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator, the clutch sleeve, the proximal articulation driver,and closure tube are illustrated while the switch drum is notillustrated; moreover, the articulation drive system of the shaftassembly is illustrated in a centered, or unarticulated, condition;

FIG. 147 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator, the clutch sleeve, and the proximal articulation driverare illustrated while the switch drum and the closure tube are notillustrated; moreover, the articulation drive system of the shaftassembly is illustrated in a condition in which an end effector of theshaft assembly would be articulated to the left of a longitudinal axisof the shaft assembly;

FIG. 148 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator, the clutch sleeve, and the proximal articulation driverare illustrated while the switch drum and the closure tube are notillustrated; moreover, the articulation drive system of the shaftassembly is illustrated in a condition in which the end effector of theshaft assembly would be articulated to the right of the longitudinalaxis of the shaft assembly;

FIG. 149 is a perspective view of the shaft assembly of FIG. 131illustrating the clutch assembly in an engaged position and illustratedwith portions removed for the purposes of clarity; specifically, theclutch actuator, the clutch sleeve, the closure tube, and the proximalarticulation driver are illustrated while the switch drum is notillustrated;

FIG. 150 is a perspective view of a surgical instrument in accordancewith certain embodiments described herein;

FIG. 151 is a schematic block diagram of a control system of a surgicalinstrument in accordance with certain embodiments described herein;

FIG. 152 is a perspective view of an interface of a surgical instrumentin accordance with certain embodiments described herein;

FIG. 153 is a top view of the interface of FIG. 152;

FIG. 154 is a cross-sectional view of the interface of FIG. 152 in aninactive or neutral configuration in accordance with certain embodimentsdescribed herein;

FIG. 155 is a cross-sectional view of the interface of FIG. 152activated to articulate an end effector in accordance with certainembodiments described herein;

FIG. 156 is a cross-sectional view of the interface of FIG. 152activated to return an end effector to an articulation home stateposition in accordance with certain embodiments described herein;

FIG. 157 is a cross-sectional view of an interface similar to theinterface of FIG. 152 in an inactive or neutral configuration inaccordance with certain embodiments described herein;

FIG. 158 is a cross-sectional view of the interface of FIG. 152activated to articulate an end effector in accordance with certainembodiments described herein;

FIG. 159 is a cross-sectional view of the interface of FIG. 152activated to return the end effector to an articulation home stateposition in accordance with certain embodiments described herein;

FIG. 160 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to a reset inputsignal in accordance with certain embodiments described herein;

FIG. 161 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to a home state inputsignal in accordance with certain embodiments described herein;

FIG. 162 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to a home state inputsignal in accordance with certain embodiments described herein;

FIG. 163 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to a firing home stateinput signal in accordance with certain embodiments described herein;

FIG. 164 is side elevational view of a surgical instrument including ahandle separated from a shaft according to various embodiments describedherein;

FIG. 165 is a side elevational view of a handle portion including aninterlock switch and a shaft portion including a locking memberaccording to various embodiments described herein;

FIG. 166 is a partial cross-sectional view of the surgical instrument inFIG. 150 illustrating a locking member in the locked configuration andan open switch according to various embodiments described herein;

FIG. 167 is a partial cross-sectional view of the surgical instrument inFIG. 150 illustrating a locking member in the unlocked configuration anda s closed switch depressed by the locking member according to variousembodiments described herein;

FIG. 167A is a partial cross-sectional view of the surgical instrumentin FIG. 150 illustrating an advanced firing drive according to variousembodiments described herein;

FIG. 167B is a partial cross-sectional view of the surgical instrumentin FIG. 150 illustrating a firing drive in a retracted or defaultposition according to various embodiments described herein;

FIG. 168 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to an input signal inaccordance with certain embodiments described herein;

FIG. 169 is a schematic block diagram outlining a response of acontroller of the surgical instrument of FIG. 150 to an input signal inaccordance with certain embodiments described herein;

FIG. 170 is a bottom view of an electric motor and a resonator accordingto various embodiments of the present disclosure;

FIG. 171 is a perspective view of the resonator of FIG. 170;

FIG. 172 is a bottom view of the resonator of FIG. 170;

FIG. 173 is a partial perspective view of a handle of a surgicalinstrument depicting the electric motor of FIG. 170 and a resonatorpositioned within the handle according to various embodiments of thepresent disclosure;

FIG. 174 is a bottom view of the electric motor and the resonator ofFIG. 173;

FIG. 175 is a perspective view of the resonator of FIG. 173;

FIG. 176 is a bottom view of the resonator of FIG. 173;

FIG. 177 is a partial perspective view of the handle of FIG. 173depicting the electric motor of FIG. 170 and a resonator positionedwithin the handle according to various embodiments of the presentdisclosure;

FIG. 178 is a bottom view of the electric motor and the resonator ofFIG. 177;

FIG. 179 is a first perspective view of the resonator of FIG. 177;

FIG. 180 is a second perspective view of the resonator of FIG. 177;

FIG. 181 is a perspective view of the handle of FIG. 173, depicting theelectric motor of FIG. 170, a resonator, and a retaining ring positionedwithin the handle according to various embodiments of the presentdisclosure;

FIG. 182 is a flowchart of the operation of a surgical instrument duringa surgical procedure according to various embodiments of the presentdisclosure;

FIG. 183 is an exploded perspective view of the surgical instrumenthandle of FIG. 34 showing a portion of a sensor arrangement for anabsolute positioning system, according to one embodiment;

FIG. 184 is a side elevational view of the handle of FIGS. 34 and 183with a portion of the handle housing removed showing a portion of asensor arrangement for an absolute positioning system, according to oneembodiment;

FIG. 185 is a schematic diagram of an absolute positioning systemcomprising a microcontroller controlled motor drive circuit arrangementcomprising a sensor arrangement, according to one embodiment;

FIG. 186 is a detail perspective view of a sensor arrangement for anabsolute positioning system, according to one embodiment;

FIG. 187 is an exploded perspective view of the sensor arrangement foran absolute positioning system showing a control circuit board assemblyand the relative alignment of the elements of the sensor arrangement,according to one embodiment;

FIG. 188 is a side perspective view of the sensor arrangement for anabsolute positioning system showing a control circuit board assembly,according to one embodiment;

FIG. 189 is a side perspective view of the sensor arrangement for anabsolute positioning system with the control circuit board assemblyremoved to show a sensor element holder assembly, according to oneembodiment;

FIG. 190 is a side perspective view of the sensor arrangement for anabsolute positioning system with the control circuit board and thesensor element holder assemblies removed to show the sensor element,according to one embodiment;

FIG. 191 is a top view of the sensor arrangement for an absolutepositioning system shown in with the control circuit board removed butthe electronic components still visible to show the relative positionbetween the position sensor and the circuit components, according to oneembodiment;

FIG. 192 is a schematic diagram of one embodiment of a position sensorfor an absolute positioning system comprising a magnetic rotary absolutepositioning system, according to one embodiment;

FIG. 193 illustrates an articulation joint in a straight position, i.e.,at a zero angle relative to the longitudinal direction, according to oneembodiment;

FIG. 194 illustrates the articulation joint of FIG. 193 articulated inone direction at a first angle defined between a longitudinal axis L-Aand an articulation axis A-A, according to one embodiment;

FIG. 195 illustrates the articulation joint of FIG. 193 articulated inanother at a second angle defined between the longitudinal axis L-A andthe articulation axis A′-A, according to one embodiment;

FIG. 196 illustrates one embodiment of a logic diagram for a method ofcompensating for the effect of splay in flexible knife bands ontransection length;

FIG. 197 is a schematic of a system for powering down an electricalconnector of a surgical instrument handle when a shaft assembly is notcoupled thereto;

FIG. 198 is a schematic illustrating a system for controlling the speedof a motor and/or the speed of a driveable member of a surgicalinstrument disclosed herein; and

FIG. 199 is a schematic illustrating another system for controlling thespeed of a motor and/or the speed of a driveable member of a surgicalinstrument disclosed herein.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate certain embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP are hereby incorporated by reference in theirentireties.

Applicant of the present application also owns the following patentapplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

U.S. patent application entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBEROF A SURGICAL INSTRUMENT, Attorney Docket No. END7261USNP/130029;

U.S. patent application entitled INTERCHANGEABLE SHAFT ASSEMBLIES FORUSE WITH A SURGICAL INSTRUMENT, Attorney Docket No. END7259USNP/130030;

U.S. patent application entitled ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK, Attorney Docket No. END7260USNP/130031;

U.S. patent application entitled SENSOR ARRANGEMENTS FOR ABSOLUTEPOSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, Attorney Docket No.END7262USNP/130032;

U.S. patent application entitled MULTI-FUNCTION MOTOR FOR A SURGICALINSTRUMENT, Attorney Docket No. END7257USNP/130033;

U.S. patent application entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FORMODULAR SURGICAL INSTRUMENTS, Attorney Docket No. END7254USNP/130034;

U.S. patent application entitled DRIVE TRAIN CONTROL ARRANGEMENTS FORMODULAR SURGICAL INSTRUMENTS, Attorney Docket No. END7255USNP/130036;

U.S. patent application entitled METHOD AND SYSTEM FOR OPERATING ASURGICAL INSTRUMENT, Attorney Docket No. END7256USNP/130037; and

U.S. patent application entitled ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE, Attorney Docket No. END7263USNP/130079.

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those of ordinary skill in the art will understand that thedevices and methods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the various embodiments of the present invention is definedsolely by the claims. The features illustrated or described inconnection with one exemplary embodiment may be combined with thefeatures of other embodiments. Such modifications and variations areintended to be included within the scope of the present invention.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one embodiment,” or “an embodiment”, or the like, meansthat a particular feature, structure, or characteristic described inconnection with the embodiment is included in at least one embodiment.Thus, appearances of the phrases “in various embodiments,” “in someembodiments,” “in one embodiment”, or “in an embodiment”, or the like,in places throughout the specification are not necessarily all referringto the same embodiment. Furthermore, the particular features,structures, or characteristics may be combined in any suitable manner inone or more embodiments. Thus, the particular features, structures, orcharacteristics illustrated or described in connection with oneembodiment may be combined, in whole or in part, with the featuresstructures, or characteristics of one or more other embodiments withoutlimitation. Such modifications and variations are intended to beincluded within the scope of the present invention.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, theperson of ordinary skill in the art will readily appreciate that thevarious methods and devices disclosed herein can be used in numeroussurgical procedures and applications including, for example, inconnection with open surgical procedures. As the present DetailedDescription proceeds, those of ordinary skill in the art will furtherappreciate that the various instruments disclosed herein can be insertedinto a body in any way, such as through a natural orifice, through anincision or puncture hole formed in tissue, etc. The working portions orend effector portions of the instruments can be inserted directly into apatient's body or can be inserted through an access device that has aworking channel through which the end effector and elongated shaft of asurgical instrument can be advanced.

FIGS. 1-3 illustrate an exemplary surgical instrument 100 which caninclude a handle 103, a shaft 104 and an articulating end effector 102pivotally connected to the shaft 104 at articulation joint 110. Anarticulation control 112 is provided to effect rotation of the endeffector 102 about articulation joint 110. The end effector 102 is shownconfigured to act as an endocutter for clamping, severing and staplingtissue, however, it will be appreciated that various embodiments mayinclude end effectors configured to act as other surgical devicesincluding, for example, graspers, cutters, staplers, clip appliers,access devices, drug/gene therapy delivery devices, ultrasound, RF,and/or laser energy devices, etc. The handle 103 of the instrument 100may include closure trigger 114 and firing trigger 116 for actuating theend effector 102. It will be appreciated that instruments having endeffectors directed to different surgical tasks may have differentnumbers or types of triggers or other suitable controls for operating anend effector. The end effector 102 is connected to the handle 103 byshaft 104. A clinician may articulate the end effector 102 relative tothe shaft 104 by utilizing the articulation control 112, as described ingreater detail further below.

It should be appreciated that spatial terms such as vertical,horizontal, right, left etc., are given herein with reference to thefigures assuming that the longitudinal axis of the surgical instrument100 is co-axial to the central axis of the shaft 104, with the triggers114, 116 extending downwardly at an acute angle from the bottom of thehandle 103. In actual practice, however, the surgical instrument 100 maybe oriented at various angles and as such these spatial terms are usedrelative to the surgical instrument 100 itself. Further, proximal isused to denote a perspective of a clinician who is behind the handle 103who places the end effector 102 distal, or away from him or herself. Asused herein, the phrase, “substantially transverse to the longitudinalaxis” where the “longitudinal axis” is the axis of the shaft, refers toa direction that is nearly perpendicular to the longitudinal axis. Itwill be appreciated, however, that directions that deviate some fromperpendicular to the longitudinal axis are also substantially transverseto the longitudinal axis.

Various embodiments disclosed herein are directed to instruments havingan articulation joint driven by bending cables or bands. FIGS. 4 and 5show a cross-sectional top view of the elongate shaft 104 and the endeffector 102 including a band 205 that is mechanically coupled to a boss206 extending from the end effector 102. The band 205 may include bandportions 202 and 204 extending proximally from the boss 206 along theelongate shaft 104 and through the articulation control 112. The band205 and band portions 202, 204 can have a fixed length. The band 205 maybe mechanically coupled to the boss 206 as shown using any suitablefastening method including, for example, glue, welding, etc. In variousembodiments, each band portion 202, 204 may be provided as a separateband, with each separate band having one end mechanically coupled to theboss 206 and another end extending through the shaft 104 andarticulation controller 112. The separate bands may be mechanicallycoupled to the boss 206 as described above.

Further to the above, band portions 202, 204 may extend from the boss206, through the articulation joint 110 and along the shaft 104 to thearticulation control 112, shown in FIG. 6. The articulation control 112can include an articulation slide 208, a frame 212 and an enclosure 218.Band portions 202, 204 may pass through the articulation slide 208 byway of slot 210 or other aperture, although it will be appreciated thatthe band portions 202, 204 may be coupled to the slide 208 by anysuitable means. The articulation slide 208 may be one piece, as shown inFIG. 6, or may include two pieces with an interface between the twopieces defining the slot 210. In one non-limiting embodiment, thearticulation slide 208 may include multiple slots, for example, witheach slot configured to receive one of the band portions 202, 204.Enclosure 218 may cover the various components of the articulationcontrol 112 to prevent debris from entering the articulation control112.

Referring again to FIG. 6, the band portions 202, 204 may be anchored tothe frame 212 at connection points 214, 216, respectively, which areproximally located from the slot 210. It will be appreciated that bandportions 202, 204 may be anchored anywhere in the instrument 10 locatedproximally from the slot 210, including the handle 103. The non-limitingembodiment of FIG. 6 shows that the band portions 202, 204 can comprisea bent configuration between the connection points 214, 216 and the slot210 located near the longitudinal axis of the shaft 104. Otherembodiments are envisioned in which the band portions 202, 204 arestraight.

FIGS. 7-9 show views of the end effector 102 and elongate shaft 104 ofthe instrument 100 including the articulation joint 110 shown in FIG. 5.FIG. 7 shows an exploded view of the end effector 102 and elongate shaft104 including various internal components. In at least one embodiment,an end effector frame 150 and shaft frame 154 are configured to bejoined at articulation joint 110. Boss 206 may be integral to the endeffector frame 150 with band 205 interfacing the boss 206 as shown. Theshaft frame 154 may include a distally directed tang 302 defining anaperture 304. The aperture 304 may be positioned to interface anarticulation pin (not shown) included in end effector frame 150 allowingthe end effector frame 150 to pivot relative to the shaft frame 154, andaccordingly, the end effector 102 to pivot relative to the shaft 104.When assembled, the various components may pivot about articulationjoint 110 at an articulation axis 306 shown in FIGS. 9 and 10.

FIG. 7 also shows an anvil 120. In this non-limiting embodiment, theanvil 120 is coupled to an elongate channel 198. For example, apertures199 can be defined in the elongate channel 198 which can receive pins152 extending from the anvil 120 and allow the anvil 120 to pivot froman open position to a closed position relative to the elongate channel198 and staple cartridge 118. In addition, FIG. 7 shows a firing bar172, configured to longitudinally translate through the shaft frame 154,through the flexible closure and pivoting frame articulation joint 110,and through a firing slot 176 in the distal frame 150 into the endeffector 102. The firing bar 172 may be constructed from one solidsection, or in various embodiments, may include a laminate materialcomprising, for example, a stack of steel plates. It will be appreciatedthat a firing bar 172 made from a laminate material may lower the forcerequired to articulate the end effector 102. In various embodiments, aspring clip 158 can be mounted in the end effector frame 150 to bias thefiring bar 172 downwardly. Distal and proximal square apertures 164, 168formed on top of the end effector frame 150 may define a clip bar 170therebetween that receives a top arm 162 of a clip spring 158 whoselower, distally extended arm 160 asserts a downward force on a raisedportion 174 of the firing bar 172, as discussed below.

A distally projecting end of the firing bar 172 can be attached to anE-beam 178 that can, among other things, assist in spacing the anvil 120from a staple cartridge 118 positioned in the elongate channel 198 whenthe anvil 120 is in a closed position. The E-beam 178 can also include asharpened cutting edge 182 which can be used to sever tissue as theE-beam 178 is advanced distally by the firing bar 172. In operation, theE-beam 178 can also actuate, or fire, the staple cartridge 118. Thestaple cartridge 118 can include a molded cartridge body 194 that holdsa plurality of staples 191 resting upon staple drivers 192 withinrespective upwardly open staple cavities 195. A wedge sled 190 is drivendistally by the E-beam 178, sliding upon a cartridge tray 196 that holdstogether the various components of the replaceable staple cartridge 118.The wedge sled 190 upwardly cams the staple drivers 192 to force out thestaples 191 into deforming contact with the anvil 120 while a cuttingsurface 182 of the E-beam 178 severs clamped tissue.

Further to the above, the E-beam 178 can include upper pins 180 whichengage the anvil 120 during firing. The E-beam 178 can further includemiddle pins 184 and a bottom foot 186 which can engage various portionsof the cartridge body 194, cartridge tray 196 and elongate channel 198.When a staple cartridge 118 is positioned within the elongate channel198, a slot 193 defined in the cartridge body 194 can be aligned with aslot 197 defined in the cartridge tray 196 and a slot 189 defined in theelongate channel 198. In use, the E-beam 178 can slide through thealigned slots 193, 197, and 189 wherein, as indicated in FIG. 7, thebottom foot 186 of the E-beam 178 can engage a groove running along thebottom surface of channel 198 along the length of slot 189, the middlepins 184 can engage the top surfaces of cartridge tray 196 along thelength of longitudinal slot 197, and the upper pins 180 can engage theanvil 120. In such circumstances, the E-beam 178 can space, or limit therelative movement between, the anvil 120 and the staple cartridge 118 asthe firing bar 172 is moved distally to fire the staples from the staplecartridge 118 and/or incise the tissue captured between the anvil 120and the staple cartridge 118. Thereafter, the firing bar 172 and theE-beam 178 can be retracted proximally allowing the anvil 120 to beopened to release the two stapled and severed tissue portions (notshown).

FIGS. 7-9 also show a double pivot closure sleeve assembly 121 accordingto various embodiments. With particular reference to FIG. 7, the doublepivot closure sleeve assembly 121 includes a shaft closure tube section128 having upper and lower distally projecting tangs 146, 148. An endeffector closure tube section 126 includes a horseshoe aperture 124 anda tab 123 for engaging the opening tab 122 on the anvil 120. Thehorseshoe aperture 124 and tab 123 engage tab 122 when the anvil 120 isopened. The closure tube section 126 is shown having upper 144 and lower(not visible) proximally projecting tangs. An upper double pivot link130 includes upwardly projecting distal and proximal pivot pins 134, 136that engage respectively an upper distal pin hole 138 in the upperproximally projecting tang 144 and an upper proximal pin hole 140 in theupper distally projecting tang 146. A lower double pivot link 132includes downwardly projecting distal and proximal pivot pins (not shownin FIG. 7, but see FIG. 8) that engage respectively a lower distal pinhole in the lower proximally projecting tang and a lower proximal pinhole 142 in the lower distally projecting tang 148.

In use, the closure sleeve assembly 121 is translated distally to closethe anvil 120, for example, in response to the actuation of the closuretrigger 114. The anvil 120 is closed by distally translating the closuretube section 126, and thus the sleeve assembly 121, causing it to strikea proximal surface on the anvil 120 located in FIG. 9A to the left ofthe tab 122. As shown more clearly in FIGS. 8 and 9, the anvil 120 isopened by proximally translating the tube section 126, and sleeveassembly 121, causing tab 123 and the horseshoe aperture 124 to contactand push against the tab 122 to lift the anvil 120. In the anvil-openposition, the double pivot closure sleeve assembly 121 is moved to itsproximal position.

In operation, the clinician may articulate the end effector 102 of theinstrument 100 relative to the shaft 104 about pivot 110 by pushing thecontrol 112 laterally. From the neutral position, the clinician mayarticulate the end effector 102 to the left relative to the shaft 104 byproviding a lateral force to the left side of the control 112. Inresponse to force, the articulation slide 208 may be pushed at leastpartially into the frame 212. As the slide 208 is pushed into the frame212, the slot 210 as well as band portion 204 may be translated acrossthe elongate shaft 104 in a transverse direction, for example, adirection substantially transverse, or perpendicular, to thelongitudinal axis of the shaft 104. Accordingly, a force is applied toband portion 204, causing it to resiliently bend and/or displace fromits initial pre-bent position toward the opposite side of the shaft 104.Concurrently, band portion 202 is relaxed from its initial pre-bentposition. Such movement of the band portion 204, coupled with thestraightening of band portion 202, can apply a counter-clockwiserotational force at boss 206 which in turn causes the boss 206 and endeffector 102 to pivot to the left about the articulation pivot 110 to adesired angle relative to the axis of the shaft 104 as shown in FIG. 12.The relaxation of the band portion 202 decreases the tension on thatband portion, allowing the band portion 204 to articulate the endeffector 102 without substantial interference from the band portion 202.It will be appreciated that the clinician may also articulate the endeffector 102 to the right relative to the shaft 104 by providing alateral force to the right side of the control 112. This bends cableportion 202, causing a clockwise rotational force at boss 206 which, inturn, causes the boss 206 and end effector to pivot to the right aboutarticulation pivot 110. Similar to the above, band portion 204 can beconcurrently relaxed to permit such movement.

FIGS. 12 and 13 depict a motor-driven surgical cutting and fasteninginstrument 310. This illustrated embodiment depicts an endoscopicinstrument and, in general, the instrument 310 is described herein as anendoscopic surgical cutting and fastening instrument; however, it shouldbe noted that the invention is not so limited and that, according toother embodiments, any instrument disclosed herein may comprise anon-endoscopic surgical cutting and fastening instrument. The surgicalinstrument 310 depicted in FIGS. 12 and 13 comprises a handle 306, ashaft 308, and an end effector 312 connected to the shaft 308. Invarious embodiments, the end effector 312 can be articulated relative tothe shaft 308 about an articulation joint 314. Various means forarticulating the end effector 312 and/or means for permitting the endeffector 312 to articulate relative to the shaft 308 are disclosed inU.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010, and U.S. Pat. No. 7,670,334, entitled SURGICALINSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on Mar. 2,2010, the entire disclosures of which are incorporated by referenceherein. Various other means for articulating the end effector 312 arediscussed in greater detail below. Similar to the above, the endeffector 312 is configured to act as an endocutter for clamping,severing, and/or stapling tissue, although, in other embodiments,different types of end effectors may be used, such as end effectors forother types of surgical devices, graspers, cutters, staplers, clipappliers, access devices, drug/gene therapy devices, ultrasound, RFand/or laser devices, etc. Several RF devices may be found in U.S. Pat.No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issuedon Apr. 4, 1995, and U.S. patent application Ser. No. 12/031,573,entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES,filed Feb. 14, 2008, the entire disclosures of which are incorporated byreference in their entirety.

It will be appreciated that the terms “proximal” and “distal” are usedherein with reference to a clinician gripping the handle 306 of theinstrument 310. Thus, the end effector 312 is distal with respect to themore proximal handle 306. It will be further appreciated that, forconvenience and clarity, spatial terms such as “vertical” and“horizontal” are used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and absolute.

The end effector 312 can include, among other things, a staple channel322 and a pivotally translatable clamping member, such as an anvil 324,for example. The handle 306 of the instrument 310 may include a closuretrigger 318 and a firing trigger 320 for actuating the end effector 312.It will be appreciated that instruments having end effectors directed todifferent surgical tasks may have different numbers or types of triggersor other suitable controls for operating the end effector 312. Thehandle 306 can include a downwardly extending pistol grip 326 towardwhich the closure trigger 318 is pivotally drawn by the clinician tocause clamping or closing of the anvil 324 toward the staple channel 322of the end effector 312 to thereby clamp tissue positioned between theanvil 324 and channel 322. In other embodiments, different types ofclamping members in addition to or lieu of the anvil 324 could be used.The handle 306 can further include a lock which can be configured toreleasably hold the closure trigger 318 in its closed position. Moredetails regarding embodiments of an exemplary closure system for closing(or clamping) the anvil 324 of the end effector 312 by retracting theclosure trigger 318 are provided in U.S. Pat. No. 7,000,818, entitledSURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRINGSYSTEMS, which issued on Feb. 21, 2006, U.S. Pat. No. 7,422,139,entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITHTACTILE POSITION FEEDBACK, which issued on Sep. 9, 2008, and U.S. Pat.No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITHCLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec. 16,2008, the entire disclosures of which are incorporated by referenceherein.

Once the clinician is satisfied with the positioning of the end effector312, the clinician may draw back the closure trigger 318 to its fullyclosed, locked position proximate to the pistol grip 326. The firingtrigger 320 may then be actuated, or fired. In at least one suchembodiment, the firing trigger 320 can be farther outboard of theclosure trigger 318 wherein the closure of the closure trigger 318 canmove, or rotate, the firing trigger 320 toward the pistol grip 326 sothat the firing trigger 320 can be reached by the operator using onehand. in various circumstances. Thereafter, the operator may pivotallydraw the firing trigger 320 toward the pistol grip 312 to cause thestapling and severing of clamped tissue in the end effector 312.Thereafter, the firing trigger 320 can be returned to its unactuated, orunfired, position (shown in FIGS. 1 and 2) after the clinician relaxesor releases the force being applied to the firing trigger 320. A releasebutton on the handle 306, when depressed, may release the locked closuretrigger 318. The release button may be implemented in various forms suchas, for example, those disclosed in published U.S. Patent ApplicationPub. No. 2007/0175955, entitled SURGICAL CUTTING AND FASTENINGINSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, which was filed onJan. 31, 2006, the entire disclosure of which is incorporated herein byreference in its entirety.

Further to the above, the end effector 312 may include a cuttinginstrument, such as knife, for example, for cutting tissue clamped inthe end effector 312 when the firing trigger 320 is retracted by a user.Also further to the above, the end effector 312 may also comprise meansfor fastening the tissue severed by the cutting instrument, such asstaples, RF electrodes, and/or adhesives, for example. A longitudinallymovable drive shaft located within the shaft 308 of the instrument 310may drive/actuate the cutting instrument and the fastening means in theend effector 312. An electric motor, located in the handle 306 of theinstrument 310 may be used to drive the drive shaft, as describedfurther herein. In various embodiments, the motor may be a DC brusheddriving motor having a maximum rotation of, approximately, 25,000 RPM,for example. In other embodiments, the motor may include a brushlessmotor, a cordless motor, a synchronous motor, a stepper motor, or anyother suitable electric motor. A battery (or “power source” or “powerpack”), such as a Li ion battery, for example, may be provided in thepistol grip portion 26 of the handle 6 adjacent to the motor wherein thebattery can supply electric power to the motor via a motor controlcircuit. According to various embodiments, a number of battery cellsconnected in series may be used as the power source to power the motor.In addition, the power source may be replaceable and/or rechargeable.

As outlined above, the electric motor in the handle 306 of theinstrument 310 can be operably engaged with the longitudinally-movabledrive member positioned within the shaft 308. Referring now to FIGS.14-16, an electric motor 342 can be mounted to and positioned within thepistol grip portion 326 of the handle 306. The electric motor 342 caninclude a rotatable shaft operably coupled with a gear reducer assembly370 wherein the gear reducer assembly 370 can include, among otherthings, a housing 374 and an output pinion gear 372. In certainembodiments, the output pinion gear 372 can be directly operably engagedwith a longitudinally-movable drive member 382 or, alternatively,operably engaged with the drive member 382 via one or more intermediategears 386. The intermediate gear 386, in at least one such embodiment,can be meshingly engaged with a set, or rack, of drive teeth 384 definedin the drive member 382. In use, the electric motor 342 can be drive thedrive member distally, indicated by an arrow D (FIG. 15), and/orproximally, indicated by an arrow D (FIG. 16), depending on thedirection in which the electric motor 342 rotates the intermediate gear386. In use, a voltage polarity provided by the battery can operate theelectric motor 342 in a clockwise direction wherein the voltage polarityapplied to the electric motor by the battery can be reversed in order tooperate the electric motor 342 in a counter-clockwise direction. Thehandle 306 can include a switch which can be configured to reverse thepolarity applied to the electric motor 342 by the battery. The handle306 can also include a sensor 330 configured to detect the position ofthe drive member 382 and/or the direction in which the drive member 382is being moved.

As indicated above, the surgical instrument 310 can include anarticulation joint 314 about which the end effector 312 can bearticulated. The instrument 310 can further include an articulation lockwhich can be configured and operated to selectively lock the endeffector 312 in position. In at least one such embodiment, thearticulation lock can extend from the proximal end of the shaft 308 tothe distal end of the shaft 308 wherein a distal end of the articulationlock can engage the end effector 312 to lock the end effector 312 inposition. Referring again to FIGS. 12 and 13, the instrument 310 canfurther include an articulation control 316 which can be engaged with aproximal end of the articulation lock and can be configured to operatethe articulation lock between a locked state and an unlocked state. Inuse, the articulation control 316 can be pulled proximally to unlock theend effector 312 and permit the end effector 312 to rotate about thearticulation joint 314. After the end effector 312 has been suitablyarticulated, the articulation control 316 can be moved distally tore-lock the end effector 312 in position. In at least one suchembodiment, the handle 306 can further include a spring and/or othersuitable biasing elements configured to bias the articulation control316 distally and to bias the articulation lock into a lockedconfiguration with the end effector 312. If the clinician desires, theclinician can once again pull the articulation control 316 back, orproximally, to unlock the end effector 312, articulate the end effector312, and then move the articulation control 316 back into its lockedstate. In such a locked state, the end effector 312 may not articulaterelative to the shaft 308.

As outlined above, the surgical instrument 310 can include anarticulation lock configured to hold the end effector 312 in positionrelative to the shaft 308. As also outlined above, the end effector 312can be rotated, or articulated, relative to the shaft 308 when thearticulation lock is in its unlocked state. In such an unlocked state,the end effector 312 can be positioned and pushed against soft tissueand/or bone, for example, surrounding the surgical site within thepatient in order to cause the end effector 312 to articulate relative tothe shaft 308. In certain embodiments, the articulation control 316 cancomprise an articulation switch or can be configured to operate anarticulation switch which can selectively permit and/or prevent thefiring trigger 320 from operating the electric motor 342. For instance,such an articulation switch can be placed in series with the electricmotor 342 and a firing switch operably associated with the firingtrigger 320 wherein the articulation switch can be in a closed statewhen the articulation control 316 is in a locked state. When thearticulation control 316 is moved into an unlocked state, thearticulation control 316 can open the articulation switch therebyelectrically decoupling the operation of the firing trigger 320 and theoperation of the electric motor 342. In such circumstances, the firingdrive of the instrument 310 cannot be fired while the end effector 312is in an unlocked state and is articulatable relative to the shaft 308.When the articulation control 316 is returned to its locked state, thearticulation control 316 can re-close the articulation switch which canthen electrically couple the operation of the firing trigger 320 withthe electric motor 342. Various details of one or more surgical staplinginstruments are disclosed in patent application Ser. No. 12/647,100,entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATORDIRECTIONAL CONTROL ASSEMBLY, which was filed on Dec. 24, 2009, andwhich published on Jun. 30, 2011 as U.S. Patent Application PublicationNo. 2011/0155785, the entire disclosure of which are incorporated byreference herein.

Turning now to FIGS. 17-29, a surgical instrument 400 can comprise ahandle 403, a shaft 404 extending from the handle 403, and an endeffector 402 extending from the shaft 404. As the reader will note,portions of the handle 403 have been removed for the purposes ofillustration; however, the handle 403 can include a closure trigger anda firing trigger similar to the closure trigger 114 and the firingtrigger 116 depicted in FIG. 1, for example. As will be described ingreater detail below, the firing trigger 116 can be operably coupledwith a firing drive including a firing member 470 extending through theshaft 404 wherein the operation of the firing trigger 116 can advancethe firing member 470 distally toward the end effector 402. As will alsobe described in greater detail below, the surgical instrument 400 canfurther include an articulation drive which can be selectively coupledwith the firing member 470 such that, when the firing member 470 ismotivated by the firing trigger 116 and/or by a separate articulationtrigger and/or button, for example, the articulation drive can be drivenby the firing member 470 and the articulation drive can, in turn,articulate the end effector 402 about an articulation joint 410.

Turning now to FIG. 17, the reader will note that the end effector 402of the surgical instrument 400 is illustrated in an open configuration.More particularly, a first jaw of the end effector 402 comprising ananvil 420 is illustrated in an open position relative to a channel 498of a second jaw of the end effector 402. Similar to the above, thechannel 498 can be configured to receive and secure a staple cartridgetherein. Turning now to FIG. 20 which also illustrates the end effector420 in an open configuration, the handle 403 of the surgical instrument400 can include an articulation lock actuator 409 which can be movedbetween a distal, or locked, position in which the end effector 402 islocked in position relative to the shaft 404 and a proximal, orunlocked, position in which the end effector 402 can be articulatedrelative to the shaft 404 about the articulation joint 410. Although theend effector 402 and the shaft 404 are illustrated in FIG. 20 as beingaligned in a straight configuration, the articulation lock actuator 409is illustrated in its retracted, unlocked position and, as a result, theend effector 402 can be articulated relative to the shaft 404. Referringto FIGS. 19, 24A and 24B, the articulation lock actuator 409 (FIG. 21)can be operably coupled with an articulation lock 443 wherein thearticulation lock actuator 409 can move the articulation lock 443between a distal position (FIG. 24A) in which the articulation lock 443is engaged with a proximal lock member 407 of the end effector 402 and aproximal position (FIG. 24B) in which the articulation lock 443 isdisengaged from the end effector 402. As the reader will appreciate, thedistal, locked, position of the articulation lock actuator 409corresponds with the distal position of the articulation lock 443 andthe proximal, unlocked, position of the articulation lock actuator 409corresponds with the proximal position of the articulation lock 443.Turning now to FIG. 19, the articulation lock 443 is coupled to thearticulation lock actuator 409 by an articulation lock bar 440 whichcomprises a distal end 442 engaged with the articulation lock 443, asbetter seen in FIG. 24A, and a proximal end 441 engaged with thearticulation lock actuator 409, as better seen in FIG. 22. Asillustrated in FIGS. 24A and 24B, the articulation lock 443 can compriseone or more teeth 445 which can be configured to meshingly engage one ormore teeth 446 defined around the perimeter of the proximal lock member407, for example. Referring primarily to FIG. 19, the shaft 404 canfurther comprise a biasing member, such as a spring 444, for example,which can be configured to bias the teeth 445 of the articulation lock443 into engagement with the teeth 446 of the proximal lock member 407of the end effector 402. Similarly, the handle 403 can further comprisea biasing member positioned within the cavity 488 (FIG. 23) definedbetween the articulation lock actuator 409 and the frame 480 such thatthe biasing member can push the articulation lock actuator 409 towardsits distal, locked, position.

As illustrated in FIG. 17, the articulation lock actuator 409 can becomprised of two nozzle halves, or portions, 411 a and 411 b wherein, asthe reader will note, the nozzle portion 411 b has been removed fromFIGS. 18-27 for the purposes of illustration. As also illustrated inFIG. 17, the articulation lock actuator 409 can comprise a plurality offinger hooks 413 which can be grasped by the surgeon, or otherclinician, in order to retract the articulation lock actuator 409 intoits proximal, unlocked, configuration. The articulation lock actuator409, referring again to FIG. 20, can further include a detent assembly452 which can be configured to bias a detent member 457 against theframe of the shaft 404 or the frame of the handle 403. Moreparticularly, the shaft 404 can comprise a shaft frame 454 extendingfrom a handle frame 480 wherein the detent assembly 452 can beconfigured to bias the detent member 457 against the shaft frame 454.Referring to FIG. 19, the shaft frame 454 can include a detent channel453 defined therein which can be aligned with the detent member 457 suchthat, as the articulation lock actuator 409 is slid between its lockedand unlocked positions described above, the detent member 457 can slidewithin the detent channel 453. The detent assembly 452, referring againto FIG. 20, can include a stationary frame portion 458 which can definea threaded aperture configured to receive an adjustable threaded member459. The adjustable threaded member 459 can include an internal aperturewherein at least a portion of the detent member 457 can be positionedwithin the internal aperture and wherein the detent member 457 can bebiased to the end of the internal aperture by a spring, for example,positioned intermediate the detent member 457 and a closed end of theinternal aperture, for example. As illustrated in FIG. 19, the proximalend of the detent channel 453 can comprise a detent seat 455 which canbe configured to removably receive the detent member 457 when thearticulation lock actuator 409 has reached its proximal, unlocked,position. In various circumstances, the detent member 457, the detentseat 455, and the biasing spring positioned in the adjustable threadedmember 459 can be sized and configured such that the detent assembly 452can releasably hold the articulation lock actuator 409 in its proximal,unlocked, position. As described in greater detail below, thearticulation lock actuator 409 can be held in its proximal, unlocked,position until the end effector 402 has been suitably articulated. Atsuch point, the articulation lock actuator 409 can be pushed forward todisengage the detent member 457 from the detent seat 455. As the readerwill appreciate, referring primarily to FIG. 20, the adjustable threadedmember 459 can be rotated downwardly toward the shaft frame 454 in orderto increase the force needed to unseat the detent member 457 from thedetent seat 455 while the adjustable threaded member 459 can be rotatedupwardly away from the shaft frame 454 in order to decrease the forceneeded to unseat the detent member 457 from the detent seat 455. As alsoillustrated in FIG. 20, the articulation lock actuator 409 can comprisean access port 418 which can be utilized to access and rotate thethreaded member 459.

As discussed above, the articulation lock actuator 409 is in aretracted, unlocked, position in FIG. 20 and the end effector 402 is inan unlocked configuration, as illustrated in FIG. 24B. Referring now toFIGS. 19 and 20, the surgical instrument 400 further comprises anarticulation driver 460 which can be pushed distally to rotate the endeffector 402 about the articulation joint 410 in a first direction andpulled proximally to rotate the end effector 402 about the articulationjoint in a second, or opposite, direction, as illustrated in FIG. 21.Upon comparing FIGS. 20 and 21, the reader will note that thearticulation driver 460 has been pulled proximally by the firing member470. More specifically, an intermediate portion 475 of the firing member470 can comprise a notch, or slot, 476 defined therein which can beconfigured to receive a proximal end 461 of the articulation driver 460such that, when the firing member 470 is pulled proximally, the firingmember 470 can pull the articulation driver 460 proximally as well.Similarly, when the firing member 470 is pushed distally, the firingmember 470 can push the articulation driver 460 distally. As alsoillustrated in FIGS. 20 and 21, the articulation driver 460 can comprisea distal end 462 engaged with a projection 414 extending from theproximal lock member 407, for example, which can be configured totransmit the proximal and distal articulation motions of thearticulation driver 460 to the end effector 102. Referring primarily toFIGS. 18-20, the handle 404 can further comprise a proximal firingmember portion 482 of the firing member 470 including a distal end 481engaged with a proximal end 477 of the intermediate portion 475 of thefiring member 470. Similar to the above, the handle 403 can include anelectric motor comprising an output shaft and a gear operably engagedwith the output shaft wherein the gear can be operably engaged with alongitudinal set of teeth 484 defined in a surface of the firing memberportion 482. In use, further to the above, the electric motor can beoperated in a first direction to advance the firing member 470 distallyand a second, or opposite, direction to retract the firing member 470proximally. Although not illustrated, the handle 403 can furthercomprise a switch which can be positioned in a first condition tooperate the electric motor in its first direction, a second condition tooperate the electric motor in its second direction, and/or a neutralcondition in which the electric motor is not operated in eitherdirection. In at least one such embodiment, the switch can include atleast one biasing member, such as a spring, for example, which can beconfigured to bias the switch into its neutral condition, for example.Also, in at least one such embodiment, the first condition of thearticulation switch can comprise a first position of a switch toggle ona first side of a neutral position and the second condition of thearticulation switch can comprise a second position of the switch toggleon a second, or opposite, side of the neutral position, for example.

In various circumstances, further to the above, the articulation switchcan be used to make small adjustments in the position of the endeffector 402. For instance, the surgeon can move the articulation switchin a first direction to rotate the end effector 402 about thearticulation joint in a first direction and then reverse the movement ofthe end effector 402 by moving the articulation switch in the seconddirection, and/or any other suitable combinations of movements in thefirst and second directions, until the end effector 402 is positioned ina desired position. Referring primarily to FIGS. 19, 24A, and 24B, thearticulation joint 410 can include a pivot pin 405 extending from ashaft frame member 451 and, in addition, an aperture 408 defined in theproximal lock member 407 which is configured to closely receive thepivot pin 405 therein such that the rotation of the end effector 402 isconstrained to rotation about an articulation axis 406, for example.Referring primarily to FIG. 19, the distal end of the shaft frame 454can include a recess 456 configured to receive the shaft frame member451 therein. As will be described in greater detail below, the shaft 404can include an outer sleeve which can be slid relative to the shaftframe 454 in order to close the anvil 420. Referring primarily to FIGS.19-21, the outer sleeve of the shaft 410 can comprise a proximal portion428 and a distal portion 426 which can be connected to one another byarticulation links 430 and 432. When the outer sleeve is slid relativeto the articulation joint 410, the articulation links 430 canaccommodate the angled relative movement between the distal portion 426and the proximal portion 428 of the outer sleeve when the end effector402 has been articulated, as illustrated in FIG. 21. In variouscircumstances, the articulation links 430 and 432 can provide two ormore degrees of freedom at the articulation joint 410 in order toaccommodate the articulation of the end effector 402. The reader willalso note that the articulation joint 410 can further include a guide401 which can be configured to receive a distal cutting portion 472 ofthe firing member 470 therein and guide the distal cutting portion 472as it is advanced distally and/or retracted proximally within and/orrelative to the articulation joint 410.

As outlined above, the firing member 470 can be advanced distally inorder to advance the articulation driver 460 distally and, as a result,rotate the end effector 402 in a first direction and, similarly, thefiring member 470 can be retracted proximally in order to retract thearticulation driver 460 proximally and, as a result, rotate the endeffector 402 in an opposite direction. In some circumstances, however,it may be undesirable to move, or at least substantially move, thedistal cutting portion 472 of the firing member 470 when the firingmember 470 is being utilized to articulate the end effector 402. Turningnow to FIGS. 19-21, the intermediate portion 475 of the firing member470 can comprise a longitudinal slot 474 defined in the distal endthereof which can be configured to receive the proximal end 473 of thedistal cutting portion 472. The longitudinal slot 474 and the proximalend 473 can be sized and configured to permit relative movementtherebetween and can comprise a slip joint 471. The slip joint 471 canpermit the intermediate portion 475 of the firing drive 470 to be movedto articulate the end effector 402 without moving, or at leastsubstantially moving, the distal cutting portion 472. Once the endeffector 402 has been suitably oriented, the intermediate portion 475can be advanced distally until a proximal sidewall of the longitudinalslot 474 comes into contact with the proximal end 473 in order toadvance the distal cutting portion 472 and fire the staple cartridgepositioned within the channel 498, as described in greater detailfurther below. Referring primarily to FIG. 19, the shaft frame 454 cancomprise a longitudinal slot 469 defined therein which can be configuredto slidably receive the articulation driver 460 and, similarly, theproximal portion 428 of the outer shaft sleeve can comprise alongitudinal opening 425 configured to accommodate the relative movementbetween the articulation driver 460 and the outer sleeve of the shaft404 described above.

Further to the above, the articulation lock actuator 409 can beconfigured to bias the proximal portion 461 of the articulation driver460 toward the drive member 470 when the articulation lock actuator 409is in its proximal, unlocked, position. More particularly, in at leastone such embodiment, the inner surface of the articulation lock actuator409 can comprise a cam which can engage a lateral side 466 of theproximal portion 461 and bias the proximal portion 461 into engagementwith the slot 476 defined in the intermediate portion 475 of the drivemember 470. When the articulation lock actuator 409 is moved back intoits distal, locked, position, the articulation lock actuator 409 may nolonger bias the proximal portion 461 inwardly toward the drive member470. In at least one such embodiment, the handle 403 and/or the shaft404 can comprise a resilient member, such as a spring, for example,which can be configured to bias the proximal portion 461 outwardly awayfrom the firing member 470 such that the proximal portion 461 is notoperably engaged with the slot 476 unless the biasing force of theresilient member is overcome by the articulation lock actuator 409 whenthe articulation lock actuator 409 is moved proximally into its unlockedposition, as described above. In various circumstances, the proximalportion 461 and the slot 476 can comprise a force-limiting clutch.

Once the end effector 402 has been articulated into the desiredorientation, further to the above, the closure trigger 114 can beactuated to move the anvil 420 toward its closed position, asillustrated in FIG. 22. More particularly, the closure trigger 114 canadvance the outer sleeve of the shaft 410 distally such that the distalportion 426 of the outer sleeve can push the anvil 420 distally anddownwardly, for example. The anvil 420 can comprise projections 497extending from opposite sides of the anvil 420 which can each beconfigured to slide and rotate within elongate slots 499 defined in thecartridge channel 498. The anvil 420 can further comprise a projection496 extending upwardly therefrom which can be positioned within anaperture 495 defined in the distal portion 426 of the outer sleevewherein a sidewall of the aperture 495 can contact the projection 496 asthe distal portion 426 is advanced distally to move the anvil 420 towardthe cartridge channel 498. The actuation of the closure drive, furtherto the above, can also move the articulation lock actuator 409 from itsproximal, unlocked, position (FIGS. 20-22) into its distal, locked,position (FIG. 23). More specifically, the closure drive can beconfigured to advance a closure drive carriage 415 distally which cancontact a collar 450 mounted within the articulation actuator 409, asillustrated in FIG. 22. As illustrated in FIGS. 19 and 22, the collar450 can comprise opposing portions, or halves, which can be assembledtogether such that the opposing portions of the collar 450 can surroundthe shaft 404. The collar 450 can also support the detent assembly 452,which is discussed above, and can include a mounting portion engagedwith the proximal end 441 of the articulation lock bar 440, which isalso discussed above. In any event, the closure drive carriage 415 cancontact the collar 450 and slide the articulation lock actuator 409distally and, further to the above, displace the detent member 457 fromthe detent seat 455, referring to FIG. 19, into the detent channel 453such that the articulation lock actuator 409 can be pushed into itslocked position and the articulation lock 443 can be moved intoengagement with the proximal lock portion 407 to lock the end effector402 in position, as illustrated in FIG. 23. At such point, the closuredrive carriage 415 can prevent the end effector 402 from being unlockedand articulated until the closure drive and the anvil 420 is reopenedand the closure drive carriage 415 is moved proximally, as described ingreater detail further below.

Referring now to FIG. 25, the actuation of the closure drive by theclosure drive actuator 114 and the distal advancement of the outersleeve 428 of the shaft 410 can also operably disengage the articulationdriver 460 from the firing drive 470. Upon reviewing FIGS. 20 and 21once again, the reader will note that the outer sleeve 428 includes awindow 424 defined therein within which a rotatable cam member 465 canbe positioned. The cam member 465 can comprise a first end rotatablypinned or coupled to the shaft frame 454 and a second end configured torotate relative to the pinned end of the cam member 465 while, in otherembodiments, the cam member 465 can comprise any suitable shape. Whenthe outer sleeve 428 is in its proximal position and the anvil 420 is inits open configuration, the cam member 465 can be in a first positionwhich permits the proximal end 461 of the articulation driver 460 to beengaged with the slot 476 defined in the firing member 470; however,when the outer sleeve 428 is advanced distally, a sidewall of the window424 can engage the cam member 465 and lift the second end of the cammember 465 away from the shaft frame 454 into a second position. In thissecond position, the cam member 465 can move the proximal end 461 of thearticulation driver 460 away from the firing drive 470 such that theproximal end 461 is no longer positioned within the slot 476 defined inthe firing drive 470. Thus, when the closure drive has been actuated toclose the anvil 420, the closure drive can push the articulation lockactuator 409 into its distal, locked, configuration, the articulationlock actuator 409 can push the articulation lock 445 into a lockedconfiguration with the end effector 402, and, in addition, the closuredrive can operably disconnect the articulation driver 460 from thefiring drive 470. At such point in the operation of the surgicalinstrument 400, the actuation of the firing drive 470 will notarticulate the end effector 402 and the firing drive 470 can moveindependently of the articulation driver 460.

Turning now to FIG. 26, as mentioned above, the firing drive 470 can beadvanced distally to eject staples from a staple cartridge positionedwithin the channel 498 of the end effector 402 and to deform the staplesagainst the anvil 420. As outlined above, the firing drive 470 canfurther comprise a cutting member which can be configured to transectthe tissue captured within the end effector 402. As also mentionedabove, the electric motor within the handle 403 can be operated by thefiring actuator 116 in order to advance the firing member 470 distallywherein, in various circumstances, the electric motor can be operateduntil the distal cutting portion 472 of the firing member 470 reachesthe distal end of the staple cartridge and/or any other suitableposition within the staple cartridge. In any event, the rotation of theelectric motor can be reversed to retract the firing member 470proximally, as illustrated in FIG. 27. In various circumstances, theelectric motor can retract the proximal drive portion 482 and theintermediate portion 475 until the distal sidewall of the longitudinalslot 474 defined in the intermediate portion 475 comes into contact withthe proximal end 473 of the distal cutting member 472. At such point,the further retraction of the proximal drive portion 482 and theintermediate portion 475 will retract the distal cutting member 472proximally. In various circumstances, the electric motor can be operateduntil the slot 476 defined in the intermediate portion 475 of the firingmember 470 is realigned with the proximal portion 461 of thearticulation driver 460; however, as the closure sleeve 428 is still ina distally advanced position, the cam member 465 may still be biasingthe articulation driver 460 out of engagement with the firing member470. In order to permit the articulation driver 460 to be re-engagedwith the firing member 470, in such circumstances, the closure drivewould have to be re-opened to bring the window 424 defined in the outersleeve portion 428 into alignment with the cam member 465 such that thecam member 465 can be pivoted inwardly toward the shaft frame 454 intoits first position. In various circumstances, the articulation driver460 can be resiliently flexed out of engagement with the firing member470 such that, when the cam member 465 is permitted to move back intoits first position, the articulation driver 460 can resiliently flexinwardly toward the shaft frame 454 to re-engage the proximal portion461 of the articulation driver 460 with the slot 476 defined in theintermediate portion 475 of the drive member 470. In variousembodiments, the surgical instrument 400 can further comprise a biasingmember which can be configured to bias the proximal portion 461 backinto engagement with the intermediate portion 475.

The reader will note that the intermediate portion 475 of the firingmember 470 has been retracted proximally in FIG. 27 such that the slot476 defined in the intermediate portion 475 is positioned proximallywith respect to the proximal portion 461 of the articulation driver 460.In such circumstances, as a result, the proximal portion 461 may not beoperably re-connected to the firing member 470 until the intermediateportion 475 is advanced distally to align the slot 476 with the proximalportion 461. Such circumstances may arise as a result of the relativeslip between the intermediation portion 475 and the cutting memberportion 472 of the firing member 470 created by the slip joint 471 whichcan be addressed by momentarily re-actuating the electric motor in thefirst direction, for example.

Referring again to FIG. 27, the firing member 470 may be in a retractedor reset position, however, the closure drive is still in an actuated,or closed, configuration which can prevent the anvil 420 from beingre-opened and the end effector 402 from being re-articulated. When theclosure drive is released, referring now to FIG. 28, the closure drivecarriage 415 can be retracted into a proximal position in which theclosure sleeve including portions 426 and 428 are pulled proximally aswell. Referring again to FIG. 19, the proximal sleeve portion 428 caninclude a proximal end 417 which can be engaged with the closure drivecarriage 415 such that the proximal sleeve portion 428 and the closuredrive carriage 415 move together in the distal direction and/or theproximal direction. In any event, further to the above, the proximalmovement of the distal sleeve portion 426 can cause the distal sidewallof the aperture 495 to engage the projection 496 extending from theanvil 420 in order to pivot the anvil 420 into its open position, asillustrated in FIG. 29. Furthermore, the proximal movement of theclosure drive carriage 415 can unlock the articulation lock actuator 409such that the articulation lock actuator 409 can be moved into isproximal, unlocked, position which can, as a result, pull thearticulation lock 443 proximally to compress the spring 444 and unlockthe end effector 402. As described above, the end effector 402 can bethen articulated about the articulation joint 410 and the operation ofthe surgical instrument 400 described above can be repeated. Referringprimarily to FIGS. 18-20, the handle 404 can further comprise a switch408 mounted to the handle frame 480 which can be configured to detectwhether the articulation lock actuator 409 is in its proximal, unlocked,position. In some embodiments, the switch 408 can be operably coupledwith an indicator in the handle 404, such as light, for example, whichcan indicate to the operator of the surgical instrument 400 that the endeffector 402 is in an unlocked condition and that the operator mayutilize the articulation switch to articulate the end effector 402, forexample.

As described above in connection with the embodiment of FIG. 17, thesurgical instrument 400 can comprise an articulation lock systemconfigured to lock and unlock the end effector 402 and a closure driveconfigured to open and close the anvil 420 of the end effector 402.Although these two systems of the surgical instrument 400 interact inseveral respects, which are described above, the systems can be actuatedindependently of one another in other respects. For instance, thearticulation lock actuator 409 and the end effector lock 443 can beactuated without closing the anvil 420. In this embodiment of thesurgical instrument 400, the closure drive is operated independently toclose the anvil 420. Turning now to FIGS. 30-32, the surgical instrument400 can include an alternate arrangement in which the closure drive isactuated to, one, close the anvil 420 and, two, lock the end effector402 in position. Referring primarily to FIGS. 31 and 32, the shaft 404can comprise an articulation lock bar 540 which can be moved between aproximal, unlocked, position (FIG. 31) in which the end effector 402 canbe articulated about the articulation joint 410 and a distal, locked,position (FIG. 32) in which the end effector 402 can be locked inposition. Similar to the articulation lock bar 440, the articulationlock bar 540 can include a distal end 542 which is operably engaged withthe articulation lock 443 such that, when the articulation lock bar 540is pulled proximally, the articulation lock 443 can be pulledproximally. Similarly, when the articulation lock bar 540 is pusheddistally, the articulation lock 443 can be pushed distally as well. Incontrast to the articulation lock bar 440 which is pushed distally andpulled proximally by the articulation lock actuator 409, as describedabove, the articulation lock bar 540 can be pushed distally and pulledproximally by the closure sleeve 428. More particularly, the proximalend 541 of the articulation lock bar 540 can comprise a hook 547 which,when the closure sleeve 428 is pulled proximally, can catch a portion ofthe closure sleeve 428 and be pulled proximally with the closure sleeve428. In such circumstances, the sleeve 428 can pull the articulationlock bar 540 into an unlocked condition. As the reader will note, theclosure sleeve 428 can include a window 549 within which the proximalend 541 of the articulation lock bar 540 can be positioned. When theclosure sleeve 428 is pushed distally, further to the above, a proximalsidewall 548 of the window 549 can contact the proximal end 541 and pushthe articulation lock bar 540 and the articulation lock 443 distally inorder to lock the end effector 402 in position.

As described herein, it may be desirable to employ surgical systems anddevices that may include reusable portions that are configured to beused with interchangeable surgical components. Referring to FIG. 33, forexample, there is shown a surgical system, generally designated as 1000,that, in at least one form, comprises a surgical instrument 1010 thatmay or may not be reused. The surgical instrument 1010 can be employedwith a plurality of interchangeable shaft assemblies 1200, 1200′, 1200″.The interchangeable shaft assemblies 1200, 1200′, 1200″ may have asurgical end effector 1300, 1300′, 1300″ operably coupled thereto thatis configured to perform one or more surgical tasks or procedures. Forexample, each of the surgical end effectors 1300, 1300′, 1300″ maycomprise a surgical cutting and fastening device that is configured tooperably support a surgical staple cartridge therein. Each of the shaftassemblies may employ end effectors that are adapted to supportdifferent sizes and types of staple cartridges, have different shaftlengths, sizes, and types, etc. While the present Figures illustrate endeffectors that are configured to cut and staple tissue, various aspectsof the surgical system 1000 may also be effectively employed withsurgical instruments that are configured to apply other motions andforms of energy such as, for example, radio frequency (RF) energy,ultrasonic energy and/or motion, to interchangeable shaft-mounted endeffector arrangements that are used in various surgical applications andprocedures. Furthermore, the end effectors, shaft assemblies, handles,surgical instruments, and/or surgical instrument systems can utilize anysuitable fastener, or fasteners, to fasten tissue. For instance, afastener cartridge comprising a plurality of fasteners removably storedtherein can be removably inserted into and/or attached to the endeffector of a shaft assembly. In various circumstances, a shaft assemblycan be selected to be attached to a handle of a surgical instrument anda fastener cartridge can be selected to be attached to the shaftassembly.

The surgical instrument 1010 depicted in the FIG. 33 comprises a housing1040 that consists of a handle 1042 that is configured to be grasped,manipulated and actuated by the clinician. As the present DetailedDescription proceeds, however, it will be understood that the variousunique and novel arrangements of the various forms of interchangeableshaft assemblies disclosed herein may also be effectively employed inconnection with robotically-controlled surgical systems. Thus, the term“housing” may also encompass a housing or similar portion of a roboticsystem that houses or otherwise operably supports at least one drivesystem that is configured to generate and apply at least one controlmotion which could be used to actuate the interchangeable shaftassemblies disclosed herein and their respective equivalents. The term“frame” may refer to a portion of a handheld surgical instrument. Theterm “frame” may also represent a portion of a robotically controlledsurgical instrument and/or a portion of the robotic system that may beused to operably control a surgical instrument. For example, theinterchangeable shaft assemblies disclosed herein may be employed withvarious robotic systems, instruments, components and methods disclosedin U.S. Patent Application Publication No. US 2012/0298719. U.S. patentapplication Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTSWITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. PatentApplication Publication No. 2012/0298719, is incorporated by referenceherein in its entirety.

FIG. 34 illustrates the surgical instrument 1010 with an interchangeableshaft assembly 1200 operably coupled thereto. In the illustrated form,the surgical instrument includes a handle 1042. In at least one form,the handle 1042 may comprise a pair of interconnectable housing segments1044, 1046 that may be interconnected by screws, snap features,adhesive, etc. See FIG. 35. In the illustrated arrangement, the handlehousing segments 1044, 1046 cooperate to form a pistol grip portion 1048that can be gripped and manipulated by the clinician. As will bediscussed in further detail below, the handle 1042 operably supports aplurality of drive systems therein that are configured to generate andapply various control motions to corresponding portions of theinterchangeable shaft assembly that is operably attached thereto.

The handle 1042 may further include a frame 1080 that operably supportsa plurality of drive systems. For example, the frame 1080 can operablysupport a first or closure drive system, generally designated as 1050,which may be employed to apply a closing and opening motions to theinterchangeable shaft assembly 1200 that is operably attached or coupledthereto. In at least one form, the closure drive system 1050 may includean actuator in the form of a closure trigger 1052 that is pivotallysupported by the frame 1080. More specifically, as illustrated in FIG.35, the closure trigger 1052 may be pivotally supported by frame 1080such that when the clinician grips the pistol grip portion 1048 of thehandle 1042, the closure trigger 1052 may be easily pivoted from astarting or unactuated position to an actuated position and moreparticularly to a fully compressed or fully actuated position. Theclosure trigger 1052 may be biased into the unactuated position byspring or other biasing arrangement (not shown). In various forms, theclosure drive system 1050 further includes a closure linkage assembly1060 that is pivotally coupled to the closure trigger 1052. As can beseen in FIG. 35, the closure linkage assembly 1060 may include a closuretrigger 1052 that is pivotally coupled to a closure link 1064 that has apair of laterally extending attachment lugs or portions 1066 protrudingtherefrom. The closure link 1064 may also be referred to herein as an“attachment member”.

Still referring to FIG. 35, it can be observed that the closure trigger1052 may have a locking wall 1068 thereon that is configured tocooperate with a closure release assembly 1070 that is pivotally coupledto the frame 1080. In at least one form, the closure release assembly1070 may comprise a release button assembly 1072 that has a distallyprotruding cam follower arm 1074 formed thereon. The release buttonassembly 1072 may be pivoted in a counterclockwise direction by arelease spring 1076. As the clinician depresses the closure trigger 1052from its unactuated position towards the pistol grip portion 1048 of thehandle 1042, the closure link 1062 pivots upward to a point wherein thecam follower arm 1072 drops into retaining engagement with the lockingwall 1068 on the closure link 1062 thereby preventing the closuretrigger 1052 from returning to the unactuated position. Thus, theclosure release assembly 1070 serves to lock the closure trigger 1052 inthe fully actuated position. When the clinician desires to unlock theclosure trigger 1052 to permit it to be biased to the unactuatedposition, the clinician simply pivots the closure release buttonassembly 1072 such that the cam follower arm 1074 is moved out ofengagement with the locking wall 1068 on the closure trigger 1052. Whenthe cam follower arm 1074 has been moved out of engagement with theclosure trigger 1052, the closure trigger 1052 may pivot back to theunactuated position. Other closure trigger locking and releasearrangements may also be employed.

In at least one form, the handle 1042 and the frame 1080 may operablysupport another drive system referred to herein as firing drive system1100 that is configured to apply firing motions to correspondingportions of the interchangeable shaft assembly attached thereto. Thefiring drive system may also be referred to herein as a “second drivesystem”. The firing drive system 1100 may employ an electric motor 1102,located in the pistol grip portion 1048 of the handle 1042. In variousforms, the motor 1102 may be a DC brushed driving motor having a maximumrotation of, approximately, 25,000 RPM, for example. In otherarrangements, the motor may include a brushless motor, a cordless motor,a synchronous motor, a stepper motor, or any other suitable electricmotor. A battery 1104 (or “power source” or “power pack”), such as a Liion battery, for example, may be coupled to the handle 1042 to supplypower to a control circuit board assembly 1106 and ultimately to themotor 1102. FIG. 34 illustrates a battery pack housing 1104 that isconfigured to be releasably mounted to the handle 1042 for supplyingcontrol power to the surgical instrument 1010. A number of battery cellsconnected in series may be used as the power source to power the motor.In addition, the power source may be replaceable and/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 1102 can include a rotatable shaft (not shown) that operablyinterfaces with a gear reducer assembly 1108 that is mounted in meshingengagement with a with a set, or rack, of drive teeth 1112 on alongitudinally-movable drive member 1110. In use, a voltage polarityprovided by the battery can operate the electric motor 1102 in aclockwise direction wherein the voltage polarity applied to the electricmotor by the battery can be reversed in order to operate the electricmotor 1102 in a counter-clockwise direction. When the electric motor1102 is rotated in one direction, the drive member 1110 will be axiallydriven in the distal direction “D”. When the motor 1102 is driven in theopposite rotary direction, the drive member 1110 will be axially drivenin a proximal direction “P”. See, for example, FIG. 35. The handle 1042can include a switch which can be configured to reverse the polarityapplied to the electric motor 1102 by the battery. As with the otherforms described herein, the handle 1042 can also include a sensor thatis configured to detect the position of the drive member 1110 and/or thedirection in which the drive member 1110 is being moved.

Actuation of the motor 1102 can be controlled by a firing trigger 1120that is pivotally supported on the handle 1042. The firing trigger 1120may be pivoted between an unactuated position and an actuated position.The firing trigger 1120 may be biased into the unactuated position by aspring (not shown) or other biasing arrangement such that when theclinician releases the firing trigger 1120, it may be pivoted orotherwise returned to the unactuated position by the spring or biasingarrangement. In at least one form, the firing trigger 1120 can bepositioned “outboard” of the closure trigger 1052 as was discussedabove. In at least one form, a firing trigger safety button 1122 may bepivotally mounted to the closure trigger 1052. As can be seen in FIGS.35 and 36, for example, the safety button 1122 may be positioned betweenthe firing trigger 1120 and the closure trigger 1052 and have a pivotarm 1124 protruding therefrom. As shown in FIG. 38, when the closuretrigger 1052 is in the unactuated position, the safety button 1122 iscontained in the handle housing where the clinician cannot readilyaccess it and move it between a safety position preventing actuation ofthe firing trigger 1120 and a firing position wherein the firing trigger1120 may be fired. As the clinician depresses the closure trigger 1052,the safety button 1122 and the firing trigger 1120 pivot down whereinthey can then be manipulated by the clinician.

As indicated above, in at least one form, the longitudinally movabledrive member 1110 has a rack of teeth 1112 formed thereon for meshingengagement with a corresponding drive gear 1114 of the gear reducerassembly 1108. At least one form may also include a manually-actuatable“bailout” assembly 1130 that is configured to enable the clinician tomanually retract the longitudinally movable drive member 1110 should themotor become disabled. The bailout assembly 1130 may include a lever orbailout handle assembly 1132 that is configured to be manually pivotedinto ratcheting engagement with the teeth 1112 in the drive member 1110.Thus, the clinician can manually retract the drive member 1110 by usingthe bailout handle assembly 1132 to ratchet the drive member in theproximal direction “P”. U.S. Patent Application Publication No. US2010/0089970 discloses bailout arrangements and other components,arrangements and systems that may also be employed with the variousinstruments disclosed herein. U.S. patent application Ser. No.12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUSWITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Patent ApplicationPublication No. 2010/0089970, is incorporated by reference in itsentirety.

FIGS. 34 and 37 illustrate one form of interchangeable shaft assembly1200 that has, for example, a surgical end effector 1300 operablyattached thereto. The end effector 1300 as illustrated in those Figuresmay be configured to cut and staple tissue in the various mannersdisclosed herein. For example, the end effector 1300 may include achannel 1302 that is configured to support a surgical staple cartridge1304. The staple cartridge 1304 may comprise a removable staplecartridge 1304 such that it may be replaced when spent. However, thestaple cartridge in other arrangements may be configured such that onceinstalled within the channel 1302, it is not intended to be removedtherefrom. The channel 1032 and staple cartridge 1304 may becollectively referred to as a “first jaw portion” of the end effector1300. In various forms, the end effector 1300 may have a “second jawportion”, in the form of an anvil 1310, that is movably or pivotallysupported on the channel 1302 in the various manners discussed herein.

The interchangeable shaft assembly 1200 may further include a shaft 1210that includes a shaft frame 1212 that is coupled to a shaft attachmentmodule or shaft attachment portion 1220. In at least one form, aproximal end 1214 of the shaft frame 1212 may extend through a hollowcollar portion 1222 formed on the shaft attachment module 1220 and berotatably attached thereto. For example, an annular groove 1216 may beprovided in the proximal end 1214 of the shaft frame 1212 for engagementwith a U-shaped retainer 1226 that extends through a slot 1224 in theshaft attachment module 1220. Such arrangement enables the shaft frame1212 to be rotated relative to the shaft attachment module 1220.

The shaft assembly 1200 may further comprise a hollow outer sleeve orclosure tube 1250 through which the shaft frame 1212 extends. The outersleeve 1250 may also be referred to herein as a “first shaft” and/or a“first shaft assembly”. The outer sleeve 1250 has a proximal end 1252that is adapted to be rotatably coupled to a closure tube attachmentyoke 1260. As can be seen in FIG. 37, the proximal end 1252 of the outersleeve 1250 is configured to be received within a cradle 1262 in theclosure tube attachment yoke 1260. A U-shaped connector 1266 extendsthrough a slot 1264 in the closure tube attachment yoke 1260 to bereceived in an annular groove 1254 in the proximal end 1252 of the outersleeve 1250. Such arrangement serves to rotatably couple the outersleeve 1250 to the closure tube attachment yoke 1260 such that the outersleeve 1250 may rotate relative thereto.

As can be seen in FIGS. 38 and 39, the proximal end 1214 of the shaftframe 1214 protrudes proximally out of the proximal end 1252 of theouter sleeve 1250 and is rotatably coupled to the shaft attachmentmodule 1220 by the U-shaped retainer 1226 (shown in FIG. 38). Theclosure tube attachment yoke 1260 is configured to be slidably receivedwithin a passage 1268 in the shaft attachment module 1220. Sucharrangement permits the outer sleeve 1250 to be axially moved in theproximal direction “P” and the distal direction “D” on the shaft frame1212 relative to the shaft attachment module 1220 as will be discussedin further detail below.

In at least one form, the interchangeable shaft assembly 1200 mayfurther include an articulation joint 1350. Other interchangeable shaftassemblies, however, may not be capable of articulation. As can be seenin FIG. 37, for example, the articulation joint 1350 includes a doublepivot closure sleeve assembly 1352. According to various forms, thedouble pivot closure sleeve assembly 1352 includes a shaft closuresleeve assembly 1354 having upper and lower distally projecting tangs1356, 1358. An end effector closure sleeve assembly 1354 includes ahorseshoe aperture 1360 and a tab 1362 for engaging an opening tab onthe anvil 1310 in the manner described above. As described above, thehorseshoe aperture 1360 and tab 1362 engage the anvil tab when the anvil1310 is opened. An upper double pivot link 1364 includes upwardlyprojecting distal and proximal pivot pins that engage respectively anupper distal pin hole in the upper proximally projecting tang 1356 andan upper proximal pin hole in an upper distally projecting tang 1256 onthe outer sleeve 1250. A lower double pivot link 1366 includesdownwardly projecting distal and proximal pivot pins that engagerespectively a lower distal pin hole in the lower proximally projectingtang 1358 and a lower proximal pin hole in the lower distally projectingtang 1258.

In use, the closure sleeve assembly 1354 is translated distally(direction “D”) to close the anvil 1310, for example, in response to theactuation of the closure trigger 1052. The anvil 1310 is closed bydistally translating the outer sleeve 1250, and thus the shaft closuresleeve assembly 1354, causing it to strike a proximal surface on theanvil 1310 in the manner described above. As was also described above,the anvil 1310 is opened by proximally translating the outer sleeve 1250and the shaft closure sleeve assembly 1354, causing tab 1362 and thehorseshoe aperture 1360 to contact and push against the anvil tab tolift the anvil 1310. In the anvil-open position, the shaft closuresleeve assembly 1352 is moved to its proximal position.

In at least one form, the interchangeable shaft assembly 1200 furtherincludes a firing member 1270 that is supported for axial travel withinthe shaft frame 1212. The firing member 1270 includes an intermediatefiring shaft portion 1272 that is configured for attachment to a distalcutting portion 1280. The firing member 1270 may also be referred toherein as a “second shaft” and/or a “second shaft assembly”. As can beseen in FIG. 37, the intermediate firing shaft portion 1272 may includea longitudinal slot 1274 in the distal end thereof which can beconfigured to receive the proximal end 1282 of the distal cuttingportion 1280. The longitudinal slot 1274 and the proximal end 1282 canbe sized and configured to permit relative movement therebetween and cancomprise a slip joint 1276. The slip joint 1276 can permit theintermediate firing shaft portion 1272 of the firing drive 1270 to bemoved to articulate the end effector 1300 without moving, or at leastsubstantially moving, the distal cutting portion 1280. Once the endeffector 1300 has been suitably oriented, the intermediate firing shaftportion 1272 can be advanced distally until a proximal sidewall of thelongitudinal slot 1272 comes into contact with the proximal end 1282 inorder to advance the distal cutting portion 1280 and fire the staplecartridge positioned within the channel 1302, as described herein. Ascan be further seen in FIG. 37, the shaft frame 1212 has an elongateopening or window 1213 therein to facilitate assembly and insertion ofthe intermediate firing shaft portion 1272 into the shaft frame 1212.Once the intermediate firing shaft portion 1272 has been insertedtherein, a top frame segment 1215 may be engaged with the shaft frame1212 to enclose the intermediate firing shaft portion 1272 and distalcutting portion 1280 therein. The reader will also note that thearticulation joint 1350 can further include a guide 1368 which can beconfigured to receive the distal cutting portion 1280 of the firingmember 1270 therein and guide the distal cutting portion 1280 as it isadvanced distally and/or retracted proximally within and/or relative tothe articulation joint 1350.

As can be seen in FIG. 37, the shaft attachment module 1220 may furtherinclude a latch actuator assembly 1230 that may be removably attached tothe shaft attachment module by cap screws (not shown) or other suitablefasteners. The latch actuator assembly 1230 is configured to cooperatewith a lock yoke 1240 that is pivotally coupled to the shaft attachmentmodule 1220 for selective pivotal travel relative thereto. See FIG. 41.Referring to FIG. 39, the lock yoke 1240 may include two proximallyprotruding lock lugs 1242 (FIG. 37) that are configured for releasableengagement with corresponding lock detents or grooves 1086 formed in aframe attachment module portion 1084 of the frame 1080 as will bediscussed in further detail below. The lock yoke 1240 is substantiallyU-shaped and is installed over the latch actuator assembly 1230 afterthe latch actuator assembly 1230 has been coupled to the shaftattachment module 1220. The latch actuator assembly 1230 may have anarcuate body portion 1234 that provides sufficient clearance for thelock yoke 1240 to pivot relative thereto between latched and unlatchedpositions.

In various forms, the lock yoke 1240 is biased in the proximal directionby spring or biasing member (not shown). Stated another way, the lockyoke 1240 is biased into the latched position (FIG. 40) and can bepivoted to an unlatched position (FIG. 41) by a latch button 1236 thatis movably supported on the latch actuator assembly 1230. In at leastone arrangement, for example, the latch button 1236 is slidably retainedwithin a latch housing portion 1235 and is biased in the proximaldirection “P” by a latch spring or biasing member (not shown). As willbe discussed in further detail below, the latch button 1236 has adistally protruding release lug 1237 that is designed to engage the lockyoke 1240 and pivot it from the latched position to the unlatchedposition shown in FIG. 41 upon actuation of the latch button 1236.

The interchangeable shaft assembly 1200 may further include a nozzleassembly 1290 that is rotatably supported on the shaft attachment module1220. In at least one form, for example, the nozzle assembly 1290 can becomprised of two nozzle halves, or portions, 1292, 1294 that may beinterconnected by screws, snap features, adhesive, etc. When mounted onthe shaft attachment module 1220, the nozzle assembly 1290 may interfacewith the outer sleeve 1250 and shaft frame 1212 to enable the clinicianto selectively rotate the shaft 1210 relative to the shaft attachmentmodule 1220 about a shaft axis SA-SA which may be defined for example,the axis of the firing member assembly 1270. In particular, a portion ofthe nozzle assembly 1290 may extend through a window 1253 in the outersleeve to engage a notch 1218 in the shaft frame 1212. See FIG. 37.Thus, rotation of the nozzle assembly 1290 will result in rotation ofthe shaft frame 1212 and outer sleeve 1250 about axis A-A relative tothe shaft attachment module 1220.

Referring now to FIGS. 42 and 43, the reader will observe that the frameattachment module portion 1084 of the frame 1080 is formed with twoinwardly facing dovetail receiving slots 1088. Each dovetail receivingslot 1088 may be tapered or, stated another way, be somewhat V-shaped.See, for example, FIGS. 36 and 38 (only one of the slots 1088 is shown).The dovetail receiving slots 1088 are configured to releasably receivecorresponding tapered attachment or lug portions 1229 of aproximally-extending connector portion 1228 of the shaft attachmentmodule 1220. As can be further seen in FIGS. 37-39, a shaft attachmentlug 1278 is formed on the proximal end 1277 of the intermediate firingshaft 1272. As will be discussed in further detail below, when theinterchangeable shaft assembly 1200 is coupled to the handle 1042, theshaft attachment lug 1278 is received in a firing shaft attachmentcradle 1113 formed in the distal end 1111 of the longitudinal drivemember 1110. Also, the closure tube attachment yoke 1260 includes aproximally-extending yoke portion 1265 that includes two capture slots1267 that open downwardly to capture the attachment lugs 1066 on theclosure attachment bar 1064.

Attachment of the interchangeable shaft assembly 1220 to the handle 1042will now be described with reference to FIGS. 44-48. In various forms,the frame 1080 or at least one of the drive systems define an actuationaxis AA-AA. For example, the actuation axis AA-AA may be defined by theaxis of the longitudinally-movable drive member 1110. As such, when theintermediate firing shaft 1272 is operably coupled to the longitudinallymovable drive member 1110, the actuation axis AA-AA is coaxial with theshaft axis SA-SA as shown in FIG. 48.

To commence the coupling process, the clinician may position the shaftattachment module 1220 of the interchangeable shaft assembly 1200 aboveor adjacent to the frame attachment module portion 1084 of the frame1080 such that the attachment lugs 1229 formed on the connector portion1228 of the shaft attachment module 1220 are aligned with the dovetailslots 1088 in the attachment module portion 1084 as shown in FIG. 45.The clinician may then move the shaft attachment module 1220 along aninstallation axis IA-IA that is substantially transverse to theactuation axis AA-AA. Stated another way, the shaft attachment module1220 is moved in an installation direction “ID” that is substantiallytransverse to the actuation axis AA-AA until the attachment lugs 1229 ofthe connector portion 1228 are seated in “operable engagement” with thecorresponding dovetail receiving slots 1088. See FIGS. 44 and 46. FIG.47 illustrates the position of the shaft attachment module 1220 prior tothe shaft attachment lug 1278 on the intermediate firing shaft 1272entering the cradle 1113 in the longitudinally movable drive member 1110and the attachment lugs 1066 on the closure attachment bar 1064 enteringthe corresponding slots 1267 in the yoke portion 1265 of the closuretube attachment yoke 1260. FIG. 48 illustrates the position of the shaftattachment module 1220 after the attachment process has been completed.As can be seen in that Figure, the lugs 1066 (only one is shown) areseated in operable engagement in their respective slots 1267 in the yokeportion 1265 of the closure tube attachment yoke 1260. As used herein,the term “operable engagement” in the context of two components meansthat the two components are sufficiently engaged with each other so thatupon application of an actuation motion thereto, the components maycarry out their intended action, function and/or procedure.

As discussed above, referring again to FIGS. 44-49, at least fivesystems of the interchangeable shaft assembly 1200 can be operablycoupled with at least five corresponding systems of the handle 1042. Afirst system can comprise a frame system which couples and/or aligns theframe of the shaft assembly 1200 with the frame of the handle 1042. Asoutlined above, the connector portion 1228 of the shaft assembly 1200can be engaged with the attachment module portion 1084 of the handleframe 1080. A second system can comprise a closure drive system whichcan operably connect the closure trigger 1052 of the handle 1042 and theclosure tube 1250 and the anvil 1310 of the shaft assembly 1200. Asoutlined above, the closure tube attachment yoke 1260 of the shaftassembly 1200 can be engaged with the attachment lugs 1066 of the handle1042. A third system can comprise a firing drive system which canoperably connect the firing trigger 1120 of the handle 1042 with theintermediate firing shaft 1272 of the shaft assembly 1200. As outlinedabove, the shaft attachment lug 1278 can be operably connected with thecradle 1113 of the longitudinal drive member 1110. A fourth system cancomprise an electrical system which can, one, signal to a controller inthe handle 1042, such as microcontroller 7004, for example, that a shaftassembly, such as shaft assembly 1200, for example, has been operablyengaged with the handle 1042 and/or, two, conduct power and/orcommunication signals between the shaft assembly 1200 and the handle1042. For instance, the shaft assembly 1200 can include six electricalcontacts and the electrical connector 4000 can also include sixelectrical contacts wherein each electrical contact on the shaftassembly 1200 can be paired and mated with an electrical contact on theelectrical connector 4000 when the shaft assembly 1200 is assembled tothe handle 1042. The shaft assembly 1200 can also include a latch 1236which can be part of a fifth system, such as a lock system, which canreleasably lock the shaft assembly 1200 to the handle 1042. In variouscircumstances, the latch 1236 can close a circuit in the handle 1042,for example, when the latch 1236 is engaged with the handle 1042.

Further to the above, the frame system, the closure drive system, thefiring drive system, and the electrical system of the shaft assembly1200 can be assembled to the corresponding systems of the handle 1042 ina transverse direction, i.e., along axis IA-IA, for example. In variouscircumstances, the frame system, the closure drive system, and thefiring drive system of the shaft assembly 1200 can be simultaneouslycoupled to the corresponding systems of the handle 1042. In certaincircumstances, two of the frame system, the closure drive system, andthe firing drive system of the shaft assembly 1200 can be simultaneouslycoupled to the corresponding systems of the handle 1042. In at least onecircumstance, the frame system can be at least initially coupled beforethe closure drive system and the firing drive system are coupled. Insuch circumstances, the frame system can be configured to align thecorresponding components of the closure drive system and the firingdrive system before they are coupled as outlined above. In variouscircumstances, the electrical system portions of the housing assembly1200 and the handle 1042 can be configured to be coupled at the sametime that the frame system, the closure drive system, and/or the firingdrive system are finally, or fully, seated. In certain circumstances,the electrical system portions of the housing assembly 1200 and thehandle 1042 can be configured to be coupled before the frame system, theclosure drive system, and/or the firing drive system are finally, orfully, seated. In some circumstances, the electrical system portions ofthe housing assembly 1200 and the handle 1042 can be configured to becoupled after the frame system has been at least partially coupled, butbefore the closure drive system and/or the firing drive system are havebeen coupled. In various circumstances, the locking system can beconfigured such that it is the last system to be engaged, i.e., afterthe frame system, the closure drive system, the firing drive system, andthe electrical system have all been engaged.

As outlined above, referring again to FIGS. 44-49, the electricalconnector 4000 of the handle 1042 can comprise a plurality of electricalcontacts. Turning now to FIG. 197, the electrical connector 4000 cancomprise a first contact 4001 a, a second contact 4001 b, a thirdcontact 4001 c, a fourth contact 4001 d, a fifth contact 4001 e, and asixth contact 4001 f, for example. While the illustrated embodimentutilizes six contacts, other embodiments are envisioned which mayutilize more than six contacts or less than six contacts. As illustratedin FIG. 197, the first contact 4001 a can be in electrical communicationwith a transistor 4008, contacts 4001 b-4001 e can be in electricalcommunication with a microcontroller 7004, and the sixth contact 4001 fcan be in electrical communication with a ground. Microcontroller 7004is discussed in greater detail further below. In certain circumstances,one or more of the electrical contacts 4001 b-4001 e may be inelectrical communication with one or more output channels of themicrocontroller 7004 and can be energized, or have a voltage potentialapplied thereto, when the handle 1042 is in a powered state. In somecircumstances, one or more of the electrical contacts 4001 b-4001 e maybe in electrical communication with one or more input channels of themicrocontroller 7004 and, when the handle 1042 is in a powered state,the microcontroller 7004 can be configured to detect when a voltagepotential is applied to such electrical contacts. When a shaft assembly,such as shaft assembly 1200, for example, is assembled to the handle1042, the electrical contacts 4001 a-4001 f may not communicate witheach other. When a shaft assembly is not assembled to the handle 1042,however, the electrical contacts 4001 a-4001 f of the electricalconnector 4000 may be exposed and, in some circumstances, one or more ofthe contacts 4001 a-4001 f may be accidentally placed in electricalcommunication with each other. Such circumstances can arise when one ormore of the contacts 4001 a-4001 f come into contact with anelectrically conductive material, for example. When this occurs, themicrocontroller 7004 can receive an erroneous input and/or the shaftassembly 1200 can receive an erroneous output, for example. To addressthis issue, in various circumstances, the handle 1042 may be unpoweredwhen a shaft assembly, such as shaft assembly 1200, for example, is notattached to the handle 1042. In other circumstances, the handle 1042 canbe powered when a shaft assembly, such as shaft assembly 1200, forexample, is not attached thereto. In such circumstances, themicrocontroller 7004 can be configured to ignore inputs, or voltagepotentials, applied to the contacts in electrical communication with themicrocontroller 7004, i.e., contacts 4001 b-4001 e, for example, until ashaft assembly is attached to the handle 1042. Even though themicrocontroller 7004 may be supplied with power to operate otherfunctionalities of the handle 1042 in such circumstances, the handle1042 may be in a powered-down state. In a way, the electrical connector4000 may be in a powered-down state as voltage potentials applied to theelectrical contacts 4001 b-4001 e may not affect the operation of thehandle 1042. The reader will appreciate that, even though contacts 4001b-4001 e may be in a powered-down state, the electrical contacts 4001 aand 4001 f, which are not in electrical communication with themicrocontroller 7004, may or may not be in a powered-down state. Forinstance, sixth contact 4001 f may remain in electrical communicationwith a ground regardless of whether the handle 1042 is in a powered-upor a powered-down state. Furthermore, the transistor 4008, and/or anyother suitable arrangement of transistors, such as transistor 4010, forexample, and/or switches may be configured to control the supply ofpower from a power source 4004, such as a battery 1104 within the handle1042, for example, to the first electrical contact 4001 a regardless ofwhether the handle 1042 is in a powered-up or a powered-down state asoutlined above. In various circumstances, the latch 1236 of the shaftassembly 1200, for example, can be configured to change the state of thetransistor 4008 when the latch 1236 is engaged with the handle 1042. Invarious circumstances, as described elsewhere herein, the latch 1236 canbe configured to close a circuit when it engages the handle 1042 and, asa result, affect the state of the transistor 4008. In certaincircumstances, further to the below, a Hall effect sensor 4002 can beconfigured to switch the state of transistor 4010 which, as a result,can switch the state of transistor 4008 and ultimately supply power frompower source 4004 to first contact 4001 a. In this way, further to theabove, both the power circuits and the signal circuits to the connector4000 can be powered down when a shaft assembly is not installed to thehandle 1042 and powered up when a shaft assembly is installed to thehandle 1042.

In various circumstances, referring again to FIG. 197, the handle 1042can include the Hall effect sensor 4002, for example, which can beconfigured to detect a detectable element, such as a magnetic element,for example, on a shaft assembly, such as shaft assembly 1200, forexample, when the shaft assembly is coupled to the handle 1042. The Halleffect sensor 4002 can be powered by a power source 4006, such as abattery, for example, which can, in effect, amplify the detection signalof the Hall effect sensor 4002 and communicate with an input channel ofthe microcontroller 7004 via the circuit illustrated in FIG. 197. Oncethe microcontroller 7004 has a received an input indicating that a shaftassembly has been at least partially coupled to the handle 1042, andthat, as a result, the electrical contacts 4001 a-4001 f are no longerexposed, the microcontroller 7004 can enter into its normal, orpowered-up, operating state. In such an operating state, themicrocontroller 7004 will evaluate the signals transmitted to one ormore of the contacts 4001 b-4001 e from the shaft assembly and/ortransmit signals to the shaft assembly through one or more of thecontacts 4001 b-4001 e in normal use thereof. In various circumstances,the shaft assembly 1200 may have to be fully seated before the Halleffect sensor 4002 can detect the magnetic element. While a Hall effectsensor 4002 can be utilized to detect the presence of the shaft assembly1200, any suitable system of sensors and/or switches can be utilized todetect whether a shaft assembly has been assembled to the handle 1042,for example. In this way, further to the above, both the power circuitsand the signal circuits to the connector 4000 can be powered down when ashaft assembly is not installed to the handle 1042 and powered up when ashaft assembly is installed to the handle 1042.

In various embodiments, any number of magnetic sensing elements may beemployed to detect whether a shaft assembly has been assembled to thehandle 1042, for example. For example, the technologies used formagnetic field sensing include search coil, fluxgate, optically pumped,nuclear precession, SQUID, Hall-effect, anisotropic magnetoresistance,giant magnetoresistance, magnetic tunnel junctions, giantmagnetoimpedance, magnetostrictive/piezoelectric composites,magnetodiode, magnetotransistor, fiber optic, magnetooptic, andmicroelectromechanical systems-based magnetic sensors, among others.

After the interchangeable shaft assembly 1200 has been operably coupledto the handle 1042, actuation of the closure trigger 1052 will result inthe distal axial advancement of the outer sleeve 1250 and the shaftclosure sleeve assembly 1354 coupled thereto to actuate the anvil 1310in the various manners disclosed herein. As can also be seen in FIG. 48,the firing member 1270 in the interchangeable shaft assembly 1200 iscoupled to the longitudinally movable drive member 1110 in the handle1042. More specifically, the shaft attachment lug 1278 formed on theproximal end 1277 of the intermediate firing shaft 1272 is receivewithin the firing shaft attachment cradle 1113 formed in the distal end1111 of the longitudinally movable drive member 1110. Thus, actuation ofthe firing trigger 1120 which results in powering of the motor 1102 toaxially advance the longitudinally movable drive member 1110 will alsocause the firing member 1270 to axially move within the shaft frame1212. Such action will cause the advancement of the distal cuttingportion 1280 through the tissue clamped in the end effector 1300 in thevarious manners disclosed herein. Although not observable in FIG. 48,those of ordinary skill in the art will also understand that when in thecoupled position depicted in that Figure, the attachment lug portions1229 of the shaft attachment module 1220 are seated within theirrespective dovetail receiving slots 1088 in the attachment moduleportion 1084 of the frame 1080. Thus, the shaft attachment module 1220is coupled to the frame 1080. In addition, although not shown in FIG. 48(but which can be seen in FIG. 40), when the shaft attachment module1220 has been coupled to the frame 1080, the lock lugs 1242 on the lockyoke 1240 are seated within their respective lock grooves 1086 (only oneis shown in FIG. 40) in the attachment module portion 1084 of the frame1080 to releasably retain the shaft attachment module 1220 in coupledoperable engagement with the frame 1080.

To detach the interchangeable shaft assembly 1220 from the frame 1080,the clinician pushes the latch button 1236 in the distal direction “D”to cause the lock yoke 1240 to pivot as shown in FIG. 41. Such pivotalmovement of the lock yoke 1240 causes the lock lugs 1242 thereon to moveout of retaining engagement with the lock grooves 1086. The clinicianmay then move the shaft attachment module 1220 away from the handle in adisconnecting direction “DD” as shown in FIG. 49.

Those of ordinary skill in the art will understand that the shaftattachment module 1220 may also be held stationary and the handle 1042moved along the installation axis IA-IA that is substantially transverseto the shaft axis SA-SA to bring the lugs 1229 on the connector portion1228 into seating engagement with the dovetail slots 1088. It will befurther understood that the shaft attachment module 1220 and the handle1042 may be simultaneously moved toward each other along theinstallation axis IA-IA that is substantially transverse to the shaftaxis SA-SA and the actuation axis AA-AA.

As used herein, the phrase, “substantially transverse to the actuationaxis and/or to the shaft axis” refers to a direction that is nearlyperpendicular to the actuation axis and/or shaft axis. It will beappreciated, however, that directions that deviate some fromperpendicular to the actuation axis and/or the shaft axis are alsosubstantially transverse to those axes.

FIGS. 50-57 illustrate another arrangement for coupling aninterchangeable shaft assembly 1600 to a frame 1480 of a handle (notshown) that otherwise functions like the handle 1042 discussed in detailherein. Thus, only those details necessary to understand the unique andnovel coupling features of the shaft assembly 1600 will be discussed infurther detail. Those of ordinary skill in the art will understand,however, that the frame may be supported within a housing of a roboticsystem that otherwise operably supports or houses a plurality of drivesystems. In other arrangements, the frame may comprise portion of arobotic system for operably affixing interchangeable shaft assembliesthereto.

In at least one form, the shaft assembly 1600 includes a shaft 1610 thatmay include all of the other components of shaft 1210 described aboveand may have an end effector (not shown) of the type described aboveoperably attached thereto. Turning to FIG. 57, in the illustratedarrangement, the shaft assembly 1600 includes a closure tube attachmentyoke 1660 that may be rotatably coupled to an outer sleeve 1650 in themanner in which the closure tube yoke assembly 1260 was rotatablycoupled to the outer sleeve 1250.

In various forms, the shaft assembly 1600 includes a shaft attachmentmodule or shaft attachment portion 1620 that has an open bottom 1621.The shaft 1610 is coupled to the shaft attachment module 1620 byinserting the proximal end of the shaft 1610 through an opening 1622 inthe shaft attachment module 1620. The closure tube attachment yoke 1660may be inserted into the shaft attachment module 1620 through the openbottom portion 1621 such that the proximal end 1652 of the outer sleeve1650 is received within the cradle 1662 in the closure tube attachmentyoke 1660. In the manner discussed above, a U-shaped connector 1666 ispassed through a slot 1624 in the shaft attachment module 1620 to engagean annular groove 1654 in the proximal end 1652 of the outer sleeve 1250and slots 1664 in the closure tube attachment yoke 1660 to affix theouter sleeve 1650 to the closure tube attachment yoke 1660. As wasdiscussed above, such arrangement enables the outer sleeve 1650 torotate relative to the shaft attachment module 1620.

In at least one form, the closure tube attachment yoke 1660 isconfigured to be supported within the shaft attachment module 1620 suchthat the closure tube yoke attachment yoke 1660 may move axially thereinin the distal and proximal directions. In at least one form, a closurespring 1625 is provided within the shaft attachment module to bias theclosure tube yoke assembly 1660 in the proximal direction “P”. See FIG.57. As with the above described shaft assembly 1210, the proximal end1614 of the shaft frame 1612 protrudes proximally out of the proximalend 1652 of the outer sleeve 1650. As can be seen in FIG. 57 a retainingcollar 1617 may be formed on the proximal end 1614 of the shaft frame1612. A U-shaped retainer member 1627 is inserted through a lateral slot1633 in the shaft attachment module 1620 to retain the proximal end 1652of the outer sleeve in that axial position while enabling the outersleeve 1650 to rotate relative to the shaft attachment module 1620. Sucharrangement permits the clinician to rotate the shaft 1610 about theshaft axis SA-SA relative to the shaft attachment module 1620. Those ofordinary skill in the art will appreciate that the shaft 1610 may berotated by the same or similar nozzle arrangement that was describedabove. For example, the nozzle portions (not shown) may be assembledaround the outer sleeve 1650 and engage the notch 1618 in the shaftframe 1612 through the window 1653 in the outer sleeve 1650. See FIG.53.

In at least one form, the frame 1480 has a frame attachment module orframe attachment portion 1484 formed thereon or attached thereto. Theframe attachment module 1484 may be formed with opposed dovetailreceiving slots 1488. Each dovetail receiving slot 1488 may be taperedor, stated another way, be somewhat V-shaped. The slots 1488 areconfigured to releasably receive corresponding portion of a dovetailconnector 1629 protruding from a proximal end of the shaft attachmentmodule 1620. As can be seen in FIG. 52, the proximal end 1677 of theintermediate firing shaft 1672 protrudes proximally out of the shaftattachment module 1620 and has a shaft attachment lug 1678 formedthereon. The proximal end 1677 of the intermediate firing shaft 1672 mayextend through the space between the end walls 1485 of the frameattachment module 1484 to enable the shaft attachment lug 1678 formedthereon to be received in a firing shaft attachment cradle 1513 formedin the distal end 1511 of the longitudinally moveable drive member 1510.See FIG. 57. When the interchangeable shaft assembly 1600 is coupled tothe handle or housing or frame of the surgical instrument, device,robotic system, etc., the shaft attachment lug 1678 is received in afiring shaft attachment cradle 1513 formed in the distal end 1511 of thelongitudinally movable drive member 1510.

As can also be seen in FIGS. 52-55, the frame attachment module 1484 mayhave a distally protruding bottom member 1490 that is adapted to encloseat least a portion of the open bottom 1621 of the shaft attachmentmodule 1620 when the shaft attachment module 1620 is operably coupled tothe frame attachment module 1484. In one form, the closure tubeattachment yoke 1660 has a pair of proximally extending, spaced yokearms 1661 protruding therefrom. A transverse yoke attachment pin 1663may extend therebetween. See FIG. 57. When the shaft attachment module1620 is brought into operable engagement with the frame attachmentmodule 1484, the yoke attachment pin 1663 is configured to be hookinglyengaged by a hook 1469 formed on a closure link 1467 of the closuredrive system 1450. The closure drive system 1450 may be similar to theclosure drive system 1050 described above and include a closure trigger1452 and a closure linkage assembly 1460. The closure linkage assembly1460 may include a closure link 1462 that is pivotally coupled to theclosure attachment bar 1464. The closure attachment bar 1464 ispivotally coupled to the closure link 1467. See FIG. 54.

A method for coupling the shaft assembly 1600 to the frame 1480 may beunderstood from reference to FIGS. 53 and 54. As with other arrangementsdisclosed herein, the shaft assembly 1600 may define a shaft axis SA-SAand the frame 1480 may define an actuation axis AA-AA. For example, theshaft axis SA-SA may be defined by the firing member 1670 and theactuation axis AA-AA may be defined by the longitudinally movable drivemember 1510. To commence the coupling process, the clinician mayposition the shaft attachment module 1620 of the interchangeable shaftassembly 1600 above or adjacent to the frame attachment module 1484 ofthe frame 1480 such that the dovetail connector 1629 of the shaftattachment module 1620 is aligned with the dovetail slots 1488 in theframe attachment module 1484 as shown in FIG. 53. The clinician may thenmove the shaft attachment module 1620 along an installation axis IA-IAthat is substantially transverse to the actuation axis AA-AA. Statedanother way, the shaft attachment module 1620 is moved in aninstallation direction “ID” that is substantially transverse to theactuation axis AA-AA until the dovetail connector 1629 is seated in thedovetail slots 1488 in the frame module 1484. See FIGS. 55-57. When theshaft attachment module 1620 has been operably engaged with the frameattachment module 1484, the closure tube attachment yoke 1665 will beoperably engaged with the closure drive system 1450 and actuation of theclosure trigger 1452 will result in the distal axial advancement of theouter sleeve 1650 and the shaft closure tube assembly coupled thereto toactuate the anvil in the various manners disclosed herein. Likewise, thefiring member 1270 will be operably engaged with the longitudinallymovable drive member 1510. See FIG. 57. Thus, actuation of the motor(not shown) of the firing drive system 1500 will result in the axialadvancement of the longitudinally movable drive member 1510 as well asthe firing member 1670. Such action will cause the advancement of thedistal cutting portion of the firing member (not shown) through thetissue clamped in the end effector in the various manners disclosedherein.

FIGS. 58-62 illustrate another arrangement for coupling aninterchangeable shaft assembly 1900 to a frame 1780 of a handle (notshown) that otherwise functions like the handle 1042 discussed in detailherein. Thus, only those details necessary to understand the unique andnovel coupling features of the shaft assembly 1900 will be discussed infurther detail. Those of ordinary skill in the art will understand,however, that the frame may be supported within a housing or otherportion of a robotic system that otherwise operably supports or houses aplurality of drive systems. In other arrangements, the frame maycomprise portion of a robotic system for operably affixinginterchangeable shaft assemblies thereto.

In at least one form, the shaft assembly 1900 includes a shaft 1910 thatmay include all of the other components of shaft 1210 described aboveand may have an end effector of the type described above, for example,(not shown) operably attached thereto. Turning to FIG. 62, in theillustrated arrangement, the shaft assembly 1900 includes a closure tubeattachment yoke 1960 that may be rotatably coupled to an outer sleeve1950 in the manner in which the closure tube yoke assembly 1260 wasrotatably coupled to the outer sleeve 1250.

In various forms, the shaft assembly 1900 may include a shaft attachmentmodule or shaft attachment portion 1920 that has an open bottom 1921.The shaft 1910 is coupled to the shaft attachment module 1920 byinserting the proximal end of the shaft 1910 through an opening 1922 inthe shaft attachment module 1920. The closure tube attachment yoke 1960may be inserted into the shaft attachment module 1920 through the openbottom portion 1921 such that the proximal end 1952 of the outer sleeve1950 is received within the cradle 1962 in the closure tube attachmentyoke 1660. In the manner discussed above, a U-shaped connector 1966engages an annular groove (not shown) in the proximal end 1952 of theouter sleeve 1950 and slots 1964 in the closure tube attachment yoke1960 to affix the outer sleeve 1950 to the closure tube attachment yoke1960. As was discussed above, such arrangement enables the outer sleeve1950 to rotate relative to the shaft attachment module 1920.

In at least one form, the closure tube attachment yoke 1960 isconfigured to be supported within the shaft attachment module 1920 suchthat the closure tube yoke assembly 1960 may move axially therein in thedistal (“D”) and proximal (“P”) directions. As with the above describedshaft assembly 1210, the proximal end of the shaft frame protrudesproximally out of the proximal end 1952 of the outer sleeve 1950. As canbe seen in FIG. 62, a retaining collar 1917 may be formed on theproximal end of the shaft frame. A U-shaped retainer member 1927 may beemployed to retain the proximal end of the shaft frame in that axialposition while enabling the shaft frame to rotate relative to the shaftattachment module 1920. Such arrangement permits the clinician to rotatethe shaft 1910 about the shaft axis SA-SA relative to the shaftattachment module 1920. A nozzle assembly 1990 may be employed in thevarious manners discussed herein to facilitate rotation of the shaft1910 relative to the shaft attachment module 1920.

The interchangeable shaft assembly 1900 may further include a nozzleassembly 1990 that is rotatably supported on the shaft attachment module1920. In at least one form, for example, the nozzle assembly 1990 can becomprised of two nozzle halves, or portions that may be interconnectedby screws, snap features, adhesive, etc. When mounted on the shaftattachment module 1920, the nozzle assembly 1990 may interface with ashaft rotation adapter 1995 that is configured to engage the outersleeve 1950 and shaft frame 1912 to enable the clinician to selectivelyrotate the shaft 1910 relative to the shaft attachment module 1920 abouta shaft axis SA-SA which may be defined for example, the axis of thefiring member assembly. Thus, rotation of the nozzle assembly 1990 willresult in rotation of the shaft frame and outer sleeve 1950 about axisA-A relative to the shaft attachment module 1920.

In at least one form, the frame 1780 has a frame attachment module orframe attachment portion 1784 formed thereon or attached thereto. Theframe attachment module 1784 may be formed with outwardly facingdovetail receiving slots 1788. Each dovetail receiving slot 1788 may betapered or, stated another way, be somewhat V-shaped. See FIG. 60. Theslots 1788 are configured to releasably operably engage correspondinginwardly-facing dovetail connector portions 1929 formed on the shaftattachment module 1920. As can be seen in FIG. 60, the proximal end 1977of the intermediate firing shaft 1972 protrudes proximally out of theshaft attachment module 1920 and has a shaft attachment lug 1978 formedthereon. The shaft attachment lug 1978 is configured to be received in afiring shaft attachment cradle 1813 formed in the distal end 1811 of thelongitudinally moveable drive member 1810. See FIG. 62. When theinterchangeable shaft assembly 1900 is in operable engagement with theframe or housing of the surgical instrument, device, robotic system,etc., the shaft attachment lug 1978 is received in operable engagementin a firing shaft attachment cradle 1813 formed in the distal end 1811of the longitudinal drive member 1810.

In at least one form, the closure tube attachment yoke 1960 has aproximally extending yoke arm 1961 protruding therefrom that has adownwardly open hook 1963 formed thereon to engage an attachment lug1766 formed on the closure attachment bar 1764 of the closure drivesystem 1750. See FIG. 62. When the shaft attachment module 1920 isbrought into coupling engagement with the frame attachment module 1784,the attachment lug 1766 is hookingly engaged by a hook 1963 formed onthe closure tube yoke arm 1961. The closure drive system 1750 may besimilar to the closure drive system 1050 described above and include aclosure trigger 1752 and a closure linkage assembly 1760. The closurelinkage assembly 1760 may include a closure link 1762 that is pivotallycoupled to the closure attachment bar 1764. See FIG. 62. Actuation ofthe closure trigger 1752 will result in the axial movement of theclosure attachment bar 1764 in the distal direction “D”.

As with other arrangements disclosed herein, the shaft assembly 1900 maydefine a shaft axis SA-SA and the frame 1780 may define an actuationaxis AA-AA. For example, the shaft axis SA-SA may be defined by thefiring member 1970 and the actuation axis AA-AA may be defined by thelongitudinally movable drive member 1810 operably supported by the frame1780. To commence the coupling process, the clinician may position theshaft attachment module 1920 of the interchangeable shaft assembly 1900above or adjacent to the frame attachment module 1784 of the frame 1780such that the dovetail connector portions 1929 of the shaft attachmentmodule 1920 are each aligned with their corresponding dovetail slot 1788in the frame attachment module 1784. The clinician may then move theshaft attachment module 1920 along an installation axis that issubstantially transverse to the actuation axis AA-AA. Stated anotherway, the shaft attachment module 1920 is moved in an installationdirection that is substantially transverse to the actuation axis AA-AAuntil the dovetail connectors 1929 are seated in operable engagement intheir corresponding dovetail slot 1788 in the frame module 1784. Whenthe shaft attachment module 1920 has been attached to the frameattachment module 1784, the closure tube attachment yoke 1960 will beoperably coupled to the closure drive system 1750 and actuation of theclosure trigger 1752 will result in the distal axial advancement of theouter sleeve 1950 and the shaft closure tube assembly coupled thereto toactuate the anvil in the various manners disclosed herein. Likewise, thefiring member will be coupled in operable engagement with thelongitudinally movable drive member 1810. See FIG. 62. Thus, actuationof the motor (not shown) of the firing drive system 1800 will result inthe axial advancement of the longitudinally movable drive member 1810 aswell as the firing member 1970. Such action will cause the advancementof the distal cutting portion of the firing member (not shown) throughthe tissue clamped in the end effector in the various manners disclosedherein.

FIGS. 63-66 illustrate another arrangement for coupling aninterchangeable shaft assembly 2200 to a frame 2080 of a handle (notshown) that may function like the handle 1042 discussed in detailherein. Thus, only those details necessary to understand the unique andnovel coupling features of the shaft assembly 2200 will be discussed infurther detail. Those of ordinary skill in the art will understand,however, that the frame may be supported within a housing or otherportion of a robotic system that otherwise operably supports or houses aplurality of drive systems. In other arrangements, the frame maycomprise portion of a robotic system for operably affixinginterchangeable shaft assemblies thereto.

In at least one form, the shaft assembly 2200 includes a shaft 2210 thatmay include all of the other components of shaft 1210 described aboveand may have an end effector (not shown) of the type described aboveoperably attached thereto. The various constructions and operations ofthose features are described above. In the illustrated arrangement, theshaft assembly 2200 includes a closure tube attachment yoke 2260 thatmay be rotatably coupled to an outer sleeve 2250 in the manner in whichthe closure tube yoke attachment yoke 1260 was rotatably coupled to theouter sleeve 1250. The shaft assembly 2200, however, does not include ashaft attachment module as was described above.

As can be seen in FIGS. 63-65, the frame 2080 may be formed in firstframe part 2080A and a second frame part 2080B. In those applicationswherein the frame 2080 is employed with a handle, the first and secondframe parts 2080A and 2080B may each be associated with a handle housingportion. Thus, when the clinician desires to attach a different shaftassembly 2200, the clinician may have to detach the handle housingportions from each other. In such arrangements for example, the housingportions may be connected together by removable fasteners or otherarrangements that facilitate easy detachment of the housing portions. Inother embodiments, the shaft assembly 2200 may be configured for asingle use. In the illustrated arrangement, the first frame part 2080Amay operably support the various drive systems therein and the secondframe part 2080B may comprise a frame portion that retains the variouscomponents of the shaft assembly 2200 in operable engagement with theircorresponding drive system components supported by the first frame part2080A.

In at least one form, the closure tube attachment yoke 2260 isconfigured to be supported within a passage 2081 in the frame 2080 suchthat the closure tube attachment yoke 2260 may move axially therein inthe distal and proximal directions. As with the above described shaftassembly 1210, the proximal end 2214 of the shaft frame 2212 protrudesproximally out of the proximal end of the 2252 of the outer sleeve 2250.As can be seen in FIG. 63, a retaining collar 2217 may be formed on theproximal end 2214 of the shaft frame 2212. The retaining collar 2217 maybe adapted to be rotatably received within an annular groove 2083 formedin the frame 2080. Such arrangement serves to operable couple the shaftframe 2212 to the frame 2080 to prevent any relative axial movementbetween those components while enabling the shaft frame 2212 to rotaterelative to the frame 2080. This arrangement further permits theclinician to rotate the shaft 2210 about the shaft axis SA-SA relativeto the frame. Those of ordinary skill in the art will appreciate that anozzle arrangement that was described above may be employed to rotatethe shaft 2210 about the shaft axis SA-SA relative to the frame 2080.For example, the nozzle portions (not shown) may be assembled around theouter sleeve 2250 and engage the notch 2218 in the shaft frame 2212through the window 2253 in the outer sleeve 2250. See FIG. 64.

As can be further seen in FIG. 64, the proximal end 2277 of theintermediate firing shaft 2272 protrudes proximally out of the proximalend 2214 of the shaft frame 2212 and has a shaft attachment lug 2278formed thereon. The firing shaft attachment cradle 2113 formed in thedistal end 2111 of the longitudinally moveable drive member 2110 isformed to enable the firing shaft attachment lug 2278 to be loaded fromthe side. In an effort to aid the clinician in aligning the componentsof the shaft assembly 2220 and the first and second frame portions 2080Aand 2080B during assembly, the second frame portion 2080B may beprovided with lugs 2090 that are configured to be received incorresponding holes or pockets 2091 formed in the first frame portion2080A and visa versa. In those single use applications wherein it is notdesirable to be able to detach the shaft assembly 2200 from the frame2080, the pockets 2090 may be configured to permanently grip or engagethe lugs 2090 inserted therein.

The first frame portion 2080A and/or the longitudinally movable drivemember 2110 which is movably supported by the first frame portion 2080Amay define an actuation axis A-A and the shaft assembly 2200 defines ashaft axis SA-SA. As can be seen in FIG. 64, to commence the couplingprocess, the shaft assembly 2200 and the first frame portion 2080A maybe oriented relative to each other such that the shaft axis SA-SA issubstantially parallel to the actuation axis AA-AA and such that thecollar 2217 is laterally-aligned along an installation axis IA that issubstantially transverse to the actuation axis with the annular groove2083 and the shaft attachment lug 2278 is laterally aligned alonganother installation axis IA-IA that is also substantially transverse tothe actuation axis AA-AA. The shaft assembly 2200 is then moved in aninstallation direction “ID” that is substantially transverse to theactuation axis AA-AA until the closure tube attachment yoke 2260 isseated with the portion of the passage 2081 formed in the first frameportion 2080A, the collar 2217 is seated within the portion of theannular groove 2083 formed in the first frame portion 2080A and theshaft attachment lug 2278 is seated in the shaft attachment cradle 2113formed in the longitudinally movable drive member 2110. In anotherarrangement, the shaft assembly 2200 and the first frame portion 2080Amay be brought together in a similar manner by holding the shaftassembly 2200 stationary and moving the first frame portion 2080A towardthe handle assembly 2200 until the above-mentioned component portionsare operably seated together or the handle assembly 2200 and the firstframe portion 2080A may each be moved toward each other until they areseated together. Once the handle assembly 2200 has been operably seatedwithin first frame portion 2080A as shown in FIG. 63, the second frameportion 2080B may be joined with the first frame portion 2080A byaligning the posts 2090 with their corresponding holes or pockets 2091and joining the components together. The first and second frame portions2080A and 2080B may be retained together by fasteners (e.g., screws,bolts, etc.), adhesive and/or snap features. In still otherarrangements, the first frame portion 2080A and the second frame portion2080B may be retained together in coupled engagement when theirrespective housing segments are joined together.

Once the first and second frame portions 2080A, 2080 b have been joinedtogether as shown in FIGS. 65 and 66, the clinician may then couple theclosure drive system 2050 to the closure tube attachment yoke 2260. Theclosure drive system 2050 may be similar to the closure drive system1050 described above and include a closure trigger 2052 and a closurelinkage assembly 2060. The closure linkage assembly may include aclosure link 2062 that is pivotally coupled to the closure attachmentbar 2064. In addition, another closure link 2067 is pivotally coupled tothe closure attachment bar 2064. The closure link 2067 may be configuredfor pivotal attachment to the arms 2261 of the closure tube attachmentyoke 2260 by a pin 2269. See FIG. 66.

FIGS. 68-74 illustrate another arrangement for coupling aninterchangeable shaft assembly 2500 to a frame 2380. The frame 2380 maybe employed with handle as described herein or may be employed inconnection with a robotic system. In at least one form, the shaftassembly 2500 includes a shaft 2510 that may include all of the othercomponents of shaft 1210 described above and may have an end effector(not shown) of the type described above operably attached thereto. Thevarious constructions and operations of those features are describedabove. As can be seen in FIGS. 68-74, the shaft assembly 2500 includes ashaft attachment module or shaft attachment portion 2520 that isconfigured to pivotally engage a frame attachment module portion 2384 ofthe frame 2380 as will be discussed in further detail below. The shaftattachment module 2520, for example, may have a collar portion 2522through which the proximal end of the shaft 2510 extends. The shaftattachment module 2520 cooperates with a frame attachment module portion2384 of the frame 2380 to form a passage 2581 therein for movablysupporting a closure tube attachment yoke 2560 therein. The closure tubeyoke assembly 2560 may be supported on a portion of the shaft attachmentmodule 2520 and is configured to be supported within the passage 2581such that the closure tube yoke assembly 2560 may move axially thereinin the distal and proximal directions. As with the above described shaftassemblies, the proximal end of the shaft frame 2512 is rotatablycoupled to the shaft attachment module 2520 such that it may rotaterelative thereto. The proximal end of the outer sleeve 2550 is rotatablycoupled to the closure tube attachment yoke 2560 in the above describedmanners such that it may rotate relative thereto. In various forms, anozzle 2590 may be employed in the above-described manners to rotate theshaft 2510 about the shaft axis SA-SA relative to the frame shaftattachment module 2520.

As can be further seen in FIG. 68-70, the proximal end 2577 of theintermediate firing shaft 2572 protrudes proximally out of the closuretube attachment yoke 2560 and has a shaft attachment lug 2578 formedthereon. The firing shaft attachment cradle 2413 formed in the distalend 2411 of the longitudinally moveable drive member 2410 is formed toenable the firing shaft attachment lug 2578 to be pivotally be loadedfrom the side.

As can be seen in FIG. 69, the frame attachment module portion 2384 hasa pair of pivot cradles 2385 formed therein that are adapted to receivecorresponding pivot lugs 2529 formed on the shaft attachment module2520. When the lugs 2529 are supported within the pivot cradles 2385,the shaft attachment module 2520 may be pivoted into operable engagementwith the frame attachment module 2384 as illustrated in FIG. 70. Inparticular, the lugs 2529 may define a pivot axis PA-PA that may besubstantially transverse to the actuation axis AA-AA. See FIG. 73. Theshaft attachment module 2520 may have laterally protruding latch pins2591 that are configured to latchingly engage corresponding latchpockets 2387 in the frame attachment module 2384. To initiate thecoupling process, the intermediate firing shaft 2572 is brought intooperable engagement with the longitudinally movable drive member in adirection that is substantially transverse to the actuation axis AA-AA.

Once the shaft attachment module 2520 has been latched to the frameattachment module 2384 as shown in FIGS. 72 and 73, the clinician maythen couple the closure drive system (which may be similar to theclosure drive systems described herein) to the closure tube attachmentyoke 2560.

The various interchangeable shaft arrangements disclosed hereinrepresent vast improvements over prior surgical instrument arrangementsthat employ dedicated shafts. For example, one shaft arrangement may beused on multiple handle arrangements and/or with robotically controlledsurgical systems. The methods of coupling the shaft arrangements alsodiffer from prior shaft arrangements that employ bayonet connections andother structures that require the application of a rotary motion to theshaft and/or the handle or housing during the coupling process. Thevarious exemplary descriptions of the coupling processes employed by theshaft assemblies disclosed herein include bringing a portion of theinterchangeable shaft assembly into coupling engagement with acorresponding portion of a housing, a handle, and/or a frame in adirection or orientation that is substantially transverse to anactuation axis. These coupling processes are intended to encompassmovement of either one or both of the shaft assembly and housing, handleand/or frame during the coupling process. For example, one method mayencompass retaining the handle, housing and/or frame stationary whilemoving the shaft assembly into coupling engagement with it. Anothermethod may encompass retaining the shaft assembly stationary whilemoving the handle, housing and/or frame into coupling engagement withit. Still another method may involve simultaneously moving the shaftassembly and the handle, housing and/or frame together into couplingengagement. It will be understood that the coupling procedures employedfor coupling the various shaft assembly arrangements disclosed hereinmay encompass one or more (including all) of such variations.

Referring to FIGS. 75-80, there is shown a handle 2642 that may besubstantially identical to the handle 1042 described above, except thatthe frame attachment module or frame attachment portion 2684 of theframe 2680 includes a lockout assembly 2690 for preventing theinadvertent actuation of the closure drive system 1750. As can be seenin FIGS. 75 and 76, for example, a proximal lockout slot segment 2692 isformed in the frame attachment module 2684 such that, prior toattachment of the interchangeable shaft assembly 1900′ thereto, thecorresponding attachment lug 1066 on the closure attachment bar 1764 isslidably received therein. Thus, when the closure attachment bar 1764 isin that position, the clinician is unable to actuate the closure drivesystem. Stated another way, when the actuation lug 1766 is received inthe proximal lockout slot segment 2692, the clinician is unable toactuate the closure trigger 1752. In various forms, only one proximallockout slot segment 2692 may be employed. In other forms, two proximallockout slot segments 2692 are provided such that each attachment lug1766 may be received in a corresponding proximal lockout slot segment2692. In various forms, a lockout spring 2695 may be employed to biasthe linkage assembly 1760, such that when the closure trigger 1752 is inthe unactuated position, the closure attachment bar 1764 is biased to aposition wherein at least one of the attachment lugs 1766 is received inthe proximal lockout slot segment 2692.

As can be seen in FIGS. 77 and 78, the lockout assembly 2690 may furtherinclude a distal lug slot 2694 that is formed in the shaft attachmentmodule 1920′ and located such that, when the shaft attachment module1920′ has been completely attached to the frame 2680, the distal lugslot 2694 opens into the proximal lockout slot segment 2692 as shown inFIGS. 77 and 78.

Operation of the closure lockout assembly 2690 may be understood fromreference to FIGS. 76-80. FIG. 76 illustrates the position of theclosure attachment bar 1764 when the closure trigger 1752 is unactuated.As can be seen in that Figure, when in that position, the attachment lug1766 is received within the proximal lockout slot segment 2692. Thus, ifthe clinician attempts to actuate the closure trigger 1752 when in thatposition (i.e., prior to operably attaching the interchangeable shaftassembly 1900′ to the frame 2680 in operable engagement), the clinicianwill be unable to actuate the closure drive system 1750. After theclinician has attached the interchangeable shaft assembly 1900′ to theframe 2684 such that it is fully seated and completely attached inoperable engagement, the distal lockout slot segment 2694 in the shaftattachment module 1920″ will open into the proximal lockout slot segment2692 as shown in FIGS. 77 and 78. As the shaft attachment module 1920′is inserted into operable engagement with the frame attachment module2684, the yoke arm 1961 protruding proximally from the closure tubeattachment yoke 1960 will capture the attachment lug 1766 in thedownwardly opening slot 1963 and drive it to the bottom of the proximallockout slot 2692 as shown in FIG. 79. Thereafter, when the cliniciandesires to actuate the closure drive system 1750 by actuating theclosure trigger 1752, the closure linkage assembly 1760 will be drivenin the distal direction “D”. As the closure attachment bar 1764 isadvanced distally, the attachment lug 1766 is permitted to advancedistally into the distal lockout slot 2694 for the distance necessary,for example, to result in the closure of the anvil or application of acorresponding actuation motion to the end effector operably coupled tothe end effector shaft assembly 1900′. FIG. 80 illustrates the positionof the closure attachment bar 1764 when the closure drive system 1750has been fully actuated, for example, when the closure trigger 1752 hasbeen fully depressed.

FIGS. 81-85 illustrate another lockout assembly 2690′ for preventing theinadvertent actuation of the closure drive system 1750 until theinterchangeable shaft assembly 1900′ has been coupled in operableengagement with the frame 2680. In at least one form, a lockout shoulder2696 is formed on the frame attachment module or frame attachmentportion 2684′ such that when the interchangeable shaft assembly 1900′has not been coupled in operable engagement with the frame 2680, theclosure attachment bar 1764 is prevented from moving in the distaldirection “D” by the shoulder 2696. See FIG. 81. As the shaft attachmentmodule 1920′ is inserted into operable engagement with the frameattachment module 2684′, the yoke arm 1961 protruding proximally fromthe closure tube attachment yoke 1960 will capture the attachment lug1766 on the closure attachment bar 1764 a move the closure attachmentbar 1764 to the “unlocked” position shown in FIGS. 82 and 83. As can beparticularly seen in FIG. 82, when in the unlocked position, the closureattachment bar 1764 is located below the shoulder 2696 on the frameattachment module 2684′. When the closure attachment bar is in theunlocked position, it may be advanced distally when the closure drivesystem 1750 is actuated by depressing the actuation trigger 1752.

FIGS. 86-91 illustrate another interchangeable shaft assembly 1900″ andhandle 2642 that employs a lockout assembly 2700 for preventing theinadvertent actuation of the closure drive system 1750″. As can be seenin FIGS. 88 and 89, one form of lockout assembly 2700 includes anactuator slide member 2720 that is slidably journaled in a distallyextending lock foot 2710 formed on the frame attachment module or frameattachment portion 2684″. In particular, in at least one form, theactuator slide member 2720 has two laterally protruding slide tabs 2722that are received in corresponding slots 2712 formed in the lock foot2710. See FIG. 86. The actuator slide member 2720 is pivotally coupledto the closure attachment bar 1764″ of the closure drive system 1750″and has an actuator pocket 2724 formed therein that is adapted toreceive a downwardly-protruding actuator tab 2702 on the closure tubeattachment yoke 1960′. As with the closure tube attachment yoke 1960described above, the closure tube attachment closure yoke 1960′ isrotatably affixed to the outer sleeve 1950 in the various mannersdescribed herein and which is axially movable within the shaftattachment module 1920′.

As can be seen in FIGS. 88-89, the lockout assembly 2700 may furtherinclude a movable lock member 2730 that is received in a cavity 2714formed in the lock foot 2710. The lock member 2730 has a lock portion2732 that is sized to extend into the actuator pocket 2724 such thatwhen in that “locked” position, the lock member 2730 prevents the distalmovement of the actuator slide member 2720 relative to the lock foot2710. As can be most particularly seen in FIG. 89, a lock spring 2734 isprovided in the cavity 2714 to bias the lock member 2730 into the lockedposition.

FIG. 89 illustrates the lockout assembly 2700 in the locked position.When in that position, the lock portion 2732 is located in the actuatorpocket 2724 and thereby prevents the distal movement of the actuatorslide member 2720. Thus, if the clinician attempts to actuate theclosure drive system 1750″ by depressing the closure trigger 1752, thelock portion 2732 will prevent the advancement of the slide member 2720.FIG. 90 illustrates the position of the lock member 2730 after theactuator tab 2702 on the closure tube yoke 1960′ has been inserted intothe actuator pocket 2724 and has biased the lock member 2370 into an“unlocked” position in the bottom of the cavity 2714 wherein theactuator slide member 2720 may be advanced distally. FIG. 91 illustratesthe position of the actuator slide 2720 after the closure trigger 1752has been completely depressed to thereby axially advance the closuretube attachment yoke 1960′ and the outer sleeve 1950 attached thereto.

FIGS. 92-98 illustrate another interchangeable shaft assembly 1900″ andhandle 2642″ that employs a lockout assembly 2800 for preventing theinadvertent actuation of the closure drive system 1750″. The closuredrive system 1750″ may be similar to the closure drive systems 1050 and1750 described above and include a closure trigger 1752 and a closurelinkage assembly 1760′. The closure linkage assembly 1760′ may include aclosure link 1762′ that is pivotally coupled to the closure attachmentbar 1764. In addition, an actuator slide member 2720 may be pivotallyattached to the closure attachment bar 1764 and also be slidablyjournaled in a distally extending lock foot 2710′ formed on the frameattachment module 2684″. In particular, in at least one form, theactuator slide member 2720 has two laterally protruding slide tabs 2722that are received in corresponding slots 2712 formed in the lock foot2710. See FIG. 92. The actuator slide member 2720 is pivotally coupledto the closure attachment bar 1764 of the closure drive system 1750″ andhas an actuator pocket 2724 formed therein that is adapted to receive adownwardly-protruding actuator tab 2702 on the closure tube attachmentyoke 1960′. As with the closure tube attachment yoke 1960 describedabove, the closure tube attachment closure yoke 1960′ is rotatablyaffixed to the outer sleeve 1950 in the various manners described hereinand which is axially movable within the shaft attachment module 1920″.

In various forms, the lockout assembly 2800 may further include amovable lock bar or lock member 2802 that is pivotally attached to theframe attachment module 2684″. For example, the lock bar 2802 may bepivotally mounted to a laterally protruding pin 2804 on the frameattachment module 2684″. The lock bar 2802 may further have a lock pin2806 protruding from a proximal portion thereof that is configured toextend into a lock slot 2808 provided in the closure link 1762′ when theclosure drive system 1750″ in unactuated. See FIG. 94. Lock pin 2806 mayextend through a lock slot 2812 that is provided in a side plate 2810that is attached to the frame 2680′. The lock slot 2812 may serve toguide the lock pin 2806 between locked (FIGS. 92-94) and unlockedpositions (FIGS. 95-98).

When the lockout assembly is in the locked position, the lock pin 2806is received in the lock slot in 2808 in the closure link 1762′. When inthat position, the lock pin prevents movement closure linkage assembly1760′. Thus, if the clinician attempts to actuate the closure drivesystem 1750″ by depressing the closure trigger 1752, the lock pin 2806will prevent movement of the closure link 1762 and ultimately preventthe advancement of the slide member 2720. FIGS. 95-98 illustrate theposition of the lock bar 2602 after the shaft attachment module 1920″has been coupled in operable engagement with the frame attachment module2684″. When in that position, a lock release portion 2820 on the frameattachment module 2684″ contacts the lock bar 2802 and causes it topivot to thereby move the lock pin 2806 out of the lock slot 2808 in theclosure link 1762′. As can also be seen in FIGS. 97 and 98, when theshaft attachment module 1920″ has been coupled in operable engagementwith the frame attachment module 2684″, the actuator tab 2702 on theclosure tube yoke 1960′ is seated in the actuator pocket 2724 in theactuator slide member 2720. FIG. 98 illustrates the position of theactuator slide member 2720 after the closure trigger 1752 has beencompletely depressed to thereby axially advance the closure tubeattachment yoke 1960′ and the outer sleeve 1950 attached thereto in thedistal direction “D”.

Referring now to FIGS. 99-101, there is shown a shaft locking assembly2900 that is configured to prevent axial movement of the firing member1270 unless the interchangeable shaft assembly has been coupled inoperable engagement with the surgical instrument. More particularly, theshaft locking assembly 2900 may prevent axial movement of the firingmember 1270 unless the firing member has been coupled in operableengagement with the longitudinally movable drive member 1110 (thelongitudinally movable drive member 1110 may be seen in FIG. 88). In atleast one form, the shaft locking assembly 2900 may comprise a shaftlocking member or locking plate 2902 that has a shaft clearance hole2904 therethrough and is supported by a portion of the shaft attachmentframe or module 1920″ for slidable travel in directions “LD” that aresubstantially transverse to the shaft axis SA-SA. See FIG. 99. The shaftlocking plate 2902 may, for example, move between a locked positionshown in FIG. 100 wherein the shaft locking plate 2902 extends into therecessed area 1279 between the attachment lug 1278 and the proximal end1277 of the intermediate firing shaft portion 1272. When in that lockedposition, the shaft locking plate 2902 prevents any axial movement ofthe intermediate firing shaft portion 1272. The shaft locking plate 2902may be biased into the locked position by a lock spring 2906 or otherbiasing arrangement. Note that FIG. 99 illustrates the locking plate2902 in an unlocked configuration for clarity purposes. When theinterchangeable shaft assembly is not attached to a surgical instrument,the locking plate 2902 will be biased into the locked position as shownin FIG. 100. It will be appreciated that such arrangement prevents anyinadvertent axial movement of the firing member 1270 when theinterchangeable shaft assembly has not been attached in operableengagement with a surgical instrument (e.g., hand-held instrument,robotic system, etc.).

As was discussed in detail above, during the coupling of theinterchangeable shaft assembly to the surgical instrument, theattachment lug 1278 on the end of the intermediate firing shaft portion1272 enters a cradle 1113 in the distal end of the longitudinallymovable drive member 1110. See FIG. 88. As the attachment lug 1278enters the cradle 1113, the distal end of the longitudinally movabledrive member 1110 contacts the shaft locking plate 2902 and moves it toan unlocked position (FIG. 101) wherein the distal end of thelongitudinally movable drive member 1110 and the proximal end 1277 ofthe intermediate firing shaft portion 1272 may axially move within theshaft clearance hole 2904 in response to actuation motions applied tothe longitudinally movable drive member 1110.

Turning now to FIGS. 102-112, a surgical instrument, such as surgicalinstrument 10000, and/or any other surgical instrument, such as surgicalinstrument system 1000, for example, can comprise a shaft 10010 and anend effector 10020, wherein the end effector 10020 can be articulatedrelative to the shaft 10010. Further to the above, the surgicalinstrument 10000 can comprise a shaft assembly comprising the shaft10010 and the end effector 10020 wherein the shaft assembly can beremovably attached to a handle of the surgical instrument 10000.Referring primarily to FIGS. 102-104, the shaft 10010 can comprise ashaft frame 10012 and the end effector 10020 can comprise an endeffector frame 10022 wherein the end effector frame 10022 can berotatably coupled to the shaft frame 10012 about an articulation joint10090. With regard to the articulation joint 10090, in at least oneexample, the shaft frame 10012 can comprise a pivot pin 10014 which canbe received within a pivot aperture 10024 defined in the end effectorframe 10022. The end effector frame 10022 can further comprise a drivepin 10021 extending therefrom which can be operably engaged with anarticulation driver. The drive pin 10021 can be configured to receive aforce applied thereto and, depending on the direction in which the forceis applied to the drive pin 10021, rotate the end effector 10020 in afirst direction or a second, opposite, direction. More particularly,when a force is applied to the drive pin 10021 in the distal directionby the articulation driver, the articulation driver can push the drivepin 10021 around the pivot pin 10014 and, similarly, when a force isapplied to the drive pin 10021 in the proximal direction by thearticulation driver, the articulation driver can pull the drive pin10021 around the pivot pin 10014 in the opposite direction, for example.To the extent that the drive pin 10021 were to be placed on the oppositeside of the articulation joint 10090, for example, the distal andproximal movements of the articulation driver would produce an oppositeeffect on the end effector 10020.

Further to the above, referring again to FIGS. 102-104, the surgicalinstrument 10000 can comprise an articulation driver system including aproximal articulation driver 10030 and a distal articulation driver10040. When a drive force is transmitted to the proximal articulationdriver 10030, whether it be in the proximal direction or the distaldirection, the drive force can be transmitted to the distal articulationdriver 10040 through an articulation lock 10050, as described in greaterdetail further below. In various circumstances, further to the above, afiring member 10060 of the surgical instrument 10000 can be utilized toimpart such a drive force to the proximal articulation driver 10040. Forinstance, referring primarily to FIGS. 102-112, the surgical instrument10000 can comprise a clutch system 10070 which can be configured toselectively connect the proximal articulation driver 10030 to the firingmember 10060 such that the movement of the firing member 10060 can beimparted to the proximal articulation driver 10030. In use, the clutchsystem 10070 can be movable between an engaged state (FIGS. 102-108 and111) in which the proximal articulation driver 10030 is operably engagedwith the firing member 10060 and a disengaged state (FIGS. 109, 110, and112) in which the proximal articulation driver 10030 is not operablyengaged with the firing member 10060. In various circumstances, theclutch system 10070 can comprise an engagement member 10072 which can beconfigured to directly connect the proximal articulation driver 10030 tothe firing member 10060. The engagement member 10072 can comprise atleast one drive tooth 10073 which can be received within a drive recess10062 defined in the firing member 10060 when the clutch system 10070 isin its engaged state. In certain circumstances, referring primarily toFIGS. 28 and 31, the engagement member 10072 can comprise a first drivetooth 10073 that extends to one side of the proximal articulation driver10030 and a second drive tooth 10073 that extends to the other side ofthe proximal articulation driver 10030 in order to engage the driverecess 10062 defined in the firing member 10060.

Further to the above, referring again to FIGS. 102-112, the clutchsystem 10070 can further comprise an actuator member 10074 which can beconfigured to rotate or pivot the engagement member 10072 about a pivotpin 10071 mounted to a proximal end 10039 (FIG. 104A) of the proximalarticulation driver 10030. The actuator member 10074 can comprise afirst, or outer, projection 10076 and a second, or inner, projection10077 between which can be defined a recess 10078 configured to receivea control arm 10079 defined in the engagement member 10072. When theactuator member 10074 is rotated away from the firing member 10060,i.e., away from a longitudinal axis of the shaft 10010, the innerprojection 10077 can contact the control arm 10079 of the engagementmember 10072 and rotate the engagement member 10072 away from the firingmember 10060 to move the drive teeth 10073 out of the drive notch 10062and, as a result, disengage the engagement member 10072 from firingmember 10060. Concurrently, the engagement member 10072 can also bedisengaged from the proximal articulation driver 10030. In at least onecircumstance, the proximal articulation driver 10030 can comprise adrive notch 10035 defined therein which can also be configured toreceive a portion of the drive teeth 10073 when the engagement member10072 is in an engaged position wherein, similar to the above, the driveteeth 10073 can be removed from the drive notch 10035 when theengagement member 10072 is moved into its disengaged position. Incertain other circumstances, referring primarily to FIG. 108, the driveteeth 10073 can define a recess 10083 therebetween which can be receivedin the drive notch 10035. In either event, in a way, the engagementmember 10072 can be configured to, one, simultaneously engage the drivenotch 10035 in the proximal articulation driver 10030 and the drivenotch 10062 in the firing member 10060 when the engagement member 10072is in its engaged position and, two, be simultaneously disengaged fromthe drive notch 10035 and the drive notch 10062 when the engagementmember 10072 is moved into its disengaged position. With continuingreference to FIGS. 102-104, the actuator member 10074 can be rotatablyor pivotably mounted to a housing at least partially surrounding theshaft 10010 via a pivot pin 10075. In some circumstances, the pivot pin10075 can be mounted to a handle frame 10001 and/or a handle housingsurrounding the handle frame 10001, such as a handle housing includingportions 11002 and 11003 as illustrated in FIG. 131, for example. Thesurgical instrument 10000 can further comprise a torsion spring 10080 atleast partially surrounding said pivot pin 10075 which can be configuredto impart a rotational bias to the actuator member 10074 in order tobias the actuator 10074, and the engagement member 10072, toward thefiring member 10060 and to bias the engagement member 10072 into itsengaged position. To this end, the outer projection 10076 of theactuator member 10074 can contact the control arm 10079 of theengagement member 10072 and pivot the engagement member 10072 inwardlyabout the pivot pin 10071.

Upon comparing FIGS. 108 and 109, further to the above, the reader willnote that the clutch system 10070 has been moved between its engagedstate (FIG. 108) and its disengaged state (FIG. 109). A similarcomparison can be drawn between FIGS. 111 and 112 wherein the readerwill appreciate that a closure tube 10015 of the shaft 10010 has beenadvanced from a proximal position (FIG. 111) to a distal position (FIG.112) to move clutch system 10070 between its engaged state (FIG. 111)and its disengaged state (FIG. 112). More particularly, the actuatormember 10074 can include a cam follower portion 10081 which can becontacted by the closure tube 10015 and displaced into its disengagedposition when the closure tube 10015 is advanced distally to close ananvil, for example, of the end effector 10020. The interaction of aclosure tube and an anvil is discussed elsewhere in the presentapplication and is not repeated herein for the sake of brevity. Invarious circumstances, referring primarily to FIG. 107, the cam followerportion 10081 of the actuator member 10074 can be positioned within awindow 10016 defined in the closure tube 10015. When the clutch system10070 is in its engaged state, the edge or sidewall 10017 of the window10016 can contact the cam follower portion 10081 and pivot the actuatormember 10074 about the pivot pin 10075. In effect, the sidewall 10017 ofthe window 10016 can act as a cam as the closure tube 10015 is movedinto its distal, or closed, position. In at least one circumstance, theactuator member 10074 can comprise a stop extending therefrom which canbe configured to engage a housing of the handle, for example, and limitthe travel of the actuator member 10074. In certain circumstances, theshaft assembly can include a spring positioned intermediate the housingof the shaft assembly and a ledge 10082 extending from the actuatormember 10074 which can be configured to bias the actuator member 10074into its engaged position. In the distal, closed, position of theclosure tube 10015, discussed above, the closure tube 10015 can remainpositioned underneath the cam follower portion 10081 to hold the clutchsystem 10070 in its disengaged state. In such a disengaged state, themovement of the firing member 10060 is not transferred to the proximalarticulation driver 10030, and/or any other portion of the articulationdriver system. When the closure tube 10015 is retracted back into itsproximal, or open, position, the closure tube 10015 can be removed fromunderneath the cam follower portion 10081 of the actuator member 10074such that the spring 10080 can bias the actuator member 10074 back intothe window 10016 and allow the clutch system 10070 to re-enter into itsengaged state.

When the proximal articulation driver 10030 is operatively engaged withthe firing member 10060 via the clutch system 10070, further to theabove, the firing member 10060 can move the proximal articulation driver10030 proximally and/or distally. For instance, proximal movement of thefiring member 10060 can move the proximal articulation driver 10030proximally and, similarly, distal movement of the firing member 10060can move the proximal articulation driver 10030 distally. Referringprimarily to FIGS. 102-104, movement of the proximal articulation driver10030, whether it be proximal or distal, can unlock the articulationlock 10050, as described in greater detail further below. With principalreference to FIG. 102, the articulation lock 10050 can comprise a framewhich is co-extensive with a frame 10042 of the distal articulationdriver 10040. Collectively, the frame of the articulation lock 10050 andthe frame 10042 can be collectively referred to hereinafter as frame10042. The frame 10042 can comprise a first, or distal, lock cavity10044 and a second, or proximal, lock cavity 10046 defined therein,wherein the first lock cavity 10044 and the second lock cavity 10046 canbe separated by an intermediate frame member 10045. The articulationlock 10050 can further include at least one first lock element 10054 atleast partially positioned within the first lock cavity 10044 which canbe configured to inhibit or prevent the proximal movement of the distalarticulation driver 10040. With regard to the particular embodimentillustrated in FIGS. 102-104, there are three first lock elements 10054positioned within the first lock cavity 10044 which can all act in asimilar, parallel manner and can co-operatively act as a single lockelement. Other embodiments are envisioned which can utilize more thanthree or less than three first lock elements 10054. Similarly, thearticulation lock 10050 can further include at least one second lockelement 10056 at least partially positioned within the second lockcavity 10046 which can be configured to inhibit or prevent the distalmovement of the distal articulation driver 10040. With regard to theparticular embodiment illustrated in FIGS. 102-104, there are threesecond lock elements 10056 positioned within the second lock cavity10046 which can all act in a similar, parallel manner and canco-operatively act as a single lock element. Other embodiments areenvisioned which can utilize more than three or less than three secondlock elements 10056.

Further to the above, referring primarily to FIG. 104A, each first lockelement 10054 can comprise a lock aperture 10052 and a lock tang 10053.The lock tang 10053 can be disposed within the first lock cavity 10044and the lock aperture 10052 can be slidably engaged with a frame rail10011 mounted to the shaft frame 10012. Referring again to FIG. 102, theframe rail 10011 extends through the apertures 10052 in the first lockelements 10054. As the reader will note, with further reference to FIG.102, the first lock elements 10054 are not oriented in a perpendiculararrangement with the frame rail 10011; rather, the first lock elements10054 are arranged and aligned at a non-perpendicular angle with respectto the frame rail 10011 such that the edges or sidewalls of the lockapertures 10052 are engaged with the frame rail 10011. Moreover, theinteraction between the sidewalls of the lock apertures 10052 and theframe rail 10011 can create a resistive or friction force therebetweenwhich can inhibit relative movement between the first lock elements10054 and the frame rail 10011 and, as a result, resist a proximalpushing force P applied to the distal articulation driver 10040. Statedanother way, the first lock elements 10054 can prevent or at leastinhibit the end effector 10020 from rotating in a direction indicated byarrow 10002. If a torque is applied to the end effector 10020 in thedirection of arrow 10002, a proximal pushing force P will be transmittedfrom the drive pin 10021 extending from the frame 10022 of the endeffector 10024 to the frame 10042 of the distal articulation driver10040. In various circumstances, the drive pin 10021 can be closelyreceived within a pin slot 10043 defined in the distal end 10041 of thedistal articulation driver 10040 such that the drive pin 10021 can bearagainst a proximal sidewall of the pin slot 10043 and transmit theproximal pushing force P to the distal articulation driver 10040.Further to the above, however, the proximal pushing force P will onlyserve to bolster the locking engagement between the first lock elements10054 and the frame rail 10011. More particularly, the proximal pushingforce P can be transmitted to the tangs 10053 of the first lock elements10054 which can cause the first lock elements 10054 to rotate anddecrease the angle defined between first lock elements 10054 and theframe rail 10011 and, as a result, increase the bite between thesidewalls of the lock apertures 10052 and the frame rail 10011.Ultimately, then, the first lock elements 10054 can lock the movement ofthe distal articulation driver 10040 in one direction.

In order to release the first lock elements 10054 and permit the endeffector 10020 to be rotated in the direction indicated by arrow 10002,referring now to FIG. 103, the proximal articulation driver 10030 can bepulled proximally to straighten, or at least substantially straighten,the first lock elements 10054 into a perpendicular, or at leastsubstantially perpendicular, position. In such a position, the bite, orresistive force, between the sidewalls of the lock apertures 10052 andthe frame rail 10011 can be sufficiently reduced, or eliminated, suchthat the distal articulation driver 10040 can be moved proximally. Inorder to straighten the first lock elements 10054 into the positionillustrated in FIG. 103, the proximal articulation driver 10030 can bepulled proximally such that a distal arm 10034 of the proximalarticulation driver 10030 contacts the first lock elements 10054 to pulland rotate the first lock elements 10054 into their straightenedposition. In various circumstances, the proximal articulation driver10030 can continue to be pulled proximally until a proximal arm 10036extending therefrom contacts, or abuts, a proximal drive wall 10052 ofthe frame 10042 and pulls the frame 10042 proximally to articulate theend effector 10002. In essence, a proximal pulling force can be appliedfrom the proximal articulation driver 10030 to the distal articulationdriver 10040 through the interaction between the proximal arm 10036 andthe proximal drive wall 10052 wherein such a pulling force can betransmitted through the frame 10042 to the drive pin 10021 to articulatethe end effector 10020 in the direction indicated by arrow 10002. Afterthe end effector 10020 has been suitably articulated in the direction ofarrow 10002, the proximal articulation driver 10040 can be released, invarious circumstances, to permit the articulation lock 10050 to re-lockthe distal articulation member 10040, and the end effector 10020, inposition. In various circumstances, the articulation lock 10050 cancomprise a spring 10055 positioned intermediate the group of first lockelements 10054 and the group of second lock elements 10056 which can becompressed when the first lock elements 10054 are straightened to unlockthe proximal movement of the distal articulation driver 10040, asdiscussed above. When the proximal articulation driver 10030 isreleased, the spring 10055 can resiliently re-expand to push the firstlock elements 10054 into their angled positions illustrated in FIG. 102.

Concurrent to the above, referring again to FIGS. 102 and 103, thesecond lock elements 10056 can remain in an angled position while thefirst lock elements 10054 are locked and unlocked as described above.The reader will appreciate that, although the second lock elements 10056are arranged and aligned in an angled position with respect to the shaftrail 10011, the second lock elements 10056 are not configured to impede,or at least substantially impede, the proximal motion of the distalarticulation driver 10040. When the distal articulation driver 10040 andarticulation lock 10050 are slid proximally, as described above, thesecond lock elements 10056 can slide distally along the frame rail 10011without, in various circumstances, changing, or at least substantiallychanging, their angled alignment with respect to the frame rail 10011.While the second lock elements 10056 are permissive of the proximalmovement of the distal articulation driver 10040 and the articulationlock 10050, the second lock elements 10056 can be configured toselectively prevent, or at least inhibit, the distal movement of thedistal articulation driver 10040, as discussed in greater detail furtherbelow.

Similar to the above, referring primarily to FIG. 104A, each second lockelement 10056 can comprise a lock aperture 10057 and a lock tang 10058.The lock tang 10058 can be disposed within the second lock cavity 10046and the lock aperture 10057 can be slidably engaged with the frame rail10011 mounted to the shaft frame 10012. Referring again to FIG. 102, theframe rail 10011 extends through the apertures 10057 in the second lockelements 10056. As the reader will note, with further reference to FIG.102, the second lock elements 10056 are not oriented in a perpendiculararrangement with the frame rail 10011; rather, the second lock elements10056 are arranged and aligned at a non-perpendicular angle with respectto the frame rail 10011 such that the edges or sidewalls of the lockapertures 10057 are engaged with the frame rail 10011. Moreover, theinteraction between the sidewalls of the lock apertures 10057 and theframe rail 10011 can create a resistive or friction force therebetweenwhich can inhibit relative movement between the second lock elements10056 and the frame rail 10011 and, as a result, resist a distal force Dapplied to the distal articulation driver 10040. Stated another way, thesecond lock elements 10056 can prevent or at least inhibit the endeffector 10020 from rotating in a direction indicated by arrow 10003. Ifa torque is applied to the end effector 10020 in the direction of arrow10003, a distal pulling force D will be transmitted from the drive pin10021 extending from the frame 10022 of the end effector 10024 to theframe 10042 of the distal articulation driver 10040. In variouscircumstances, the drive pin 10021 can be closely received within thepin slot 10043 defined in the distal end 10041 of the distalarticulation driver 10040 such that the drive pin 10021 can bear againsta distal sidewall of the pin slot 10043 and transmit the distal pullingforce D to the distal articulation driver 10040. Further to the above,however, the distal pulling force D will only serve to bolster thelocking engagement between the second lock elements 10056 and the framerail 10011. More particularly, the distal pulling force D can betransmitted to the tangs 10058 of the second lock elements 10056 whichcan cause the second lock elements 10056 to rotate and decrease theangle defined between second lock elements 10056 and the frame rail10011 and, as a result, increase the bite between the sidewalls of thelock apertures 10057 and the frame rail 10011. Ultimately, then, thesecond lock elements 10056 can lock the movement of the distalarticulation driver 10040 in one direction.

In order to release the second lock elements 10056 and permit the endeffector 10020 to be rotated in the direction indicated by arrow 10003,referring now to FIG. 104, the proximal articulation driver 10030 can bepushed distally to straighten, or at least substantially straighten, thesecond lock elements 10056 into a perpendicular, or at leastsubstantially perpendicular, position. In such a position, the bite, orresistive force, between the sidewalls of the lock apertures 10057 andthe frame rail 10011 can be sufficiently reduced, or eliminated, suchthat the distal articulation driver 10040 can be moved distally. Inorder to straighten the second lock elements 10056 into the positionillustrated in FIG. 104, the proximal articulation driver 10030 can bepushed distally such that the proximal arm 10036 of the proximalarticulation driver 10030 contacts the second lock elements 10056 topush and rotate the second lock elements 10056 into their straightenedposition. In various circumstances, the proximal articulation driver10030 can continue to be pushed distally until the distal arm 10034extending therefrom contacts, or abuts, a distal drive wall 10051 of theframe 10042 and pushes the frame 10042 distally to articulate the endeffector 10020. In essence, a distal pushing force can be applied fromthe proximal articulation driver 10030 to the distal articulation driver10040 through the interaction between the distal arm 10034 and thedistal drive wall 10051 wherein such a pushing force can be transmittedthrough the frame 10042 to the drive pin 10021 to articulate the endeffector 10020 in the direction indicated by arrow 10003. After the endeffector 10020 has been suitably articulated in the direction of arrow10003, the proximal articulation driver 10040 can be released, invarious circumstances, to permit the articulation lock 10050 to re-lockthe distal articulation member 10040, and the end effector 10020, inposition. In various circumstances, similar to the above, the spring10055 positioned intermediate the group of first lock elements 10054 andthe group of second lock elements 10056 can be compressed when thesecond lock elements 10056 are straightened to unlock the distalmovement of the distal articulation driver 10040, as discussed above.When the proximal articulation driver 10040 is released, the spring10055 can resiliently re-expand to push the second lock elements 10056into their angled positions illustrated in FIG. 102.

Concurrent to the above, referring again to FIGS. 102 and 104, the firstlock elements 10054 can remain in an angled position while the secondlock elements 10056 are locked and unlocked as described above. Thereader will appreciate that, although the first lock elements 10054 arearranged and aligned in an angled position with respect to the shaftrail 10011, the first lock elements 10054 are not configured to impede,or at least substantially impede, the distal motion of the distalarticulation driver 10040. When the distal articulation driver 10040 andarticulation lock 10050 are slid distally, as described above, the firstlock elements 10054 can slide distally along the frame rail 10011without, in various circumstances, changing, or at least substantiallychanging, their angled alignment with respect to the frame rail 10011.While the first lock elements 10054 are permissive of the distalmovement of the distal articulation driver 10040 and the articulationlock 10050, the first lock elements 10054 are configured to selectivelyprevent, or at least inhibit, the proximal movement of the distalarticulation driver 10040, as discussed above.

In view of the above, the articulation lock 10050, in a lockedcondition, can be configured to resist the proximal and distal movementsof the distal articulation driver 10040. In terms of resistance, thearticulation lock 10050 can be configured to prevent, or at leastsubstantially prevent, the proximal and distal movements of the distalarticulation driver 10040. Collectively, the proximal motion of thedistal articulation driver 10040 is resisted by the first lock elements10054 when the first lock elements 10054 are in their locked orientationand the distal motion of the distal articulation driver 10040 isresisted by the second lock elements 10056 when the second lock elements10056 are in their locked orientation, as described above. Statedanother way, the first lock elements 10054 comprise a first one-way lockand the second lock elements 10056 comprise a second one-way lock whichlocks in an opposite direction.

When the first lock elements 10054 are in a locked configuration,referring again to FIG. 102 and as discussed above, an attempt to movethe distal articulation driver 10040 proximally may only serve tofurther decrease the angle between the first lock elements 10054 and theframe rail 10011. In various circumstances, the first lock elements10054 may flex while, in at least some circumstances, the first lockelements 10054 may abut a distal shoulder 10047 defined in the firstlock cavity 10044. More precisely, the outer-most first lock element10054 may abut the distal shoulder 10047 while the other first lockelements 10054 may abut an adjacent first lock element 10054. In somecircumstances, the distal shoulder 10047 can arrest the movement of thefirst lock elements 10054. In certain circumstances, the distal shoulder10047 can provide strain relief. For instance, once the distal shoulder10047 is in contact with the first lock elements 10054, the distalshoulder 10047 can support the first lock elements 10054 at a locationwhich is adjacent to, or at least substantially adjacent to, the lockrail 10011 such that only a small lever arm, or torque arm, separatesopposing forces transmitted through the first lock elements 10054 atdifferent locations thereof. In such circumstances, in effect, the forcetransmitted through the tangs 10053 of the first lock elements 10054 maybe reduced or eliminated.

Similar to the above, when the second lock elements 10056 are in alocked configuration, referring again to FIG. 102 and as discussedabove, an attempt to move the distal articulation driver 10040 distallymay only serve to further decrease the angle between the second lockelements 10056 and the frame rail 10011. In various circumstances, thesecond lock elements 10056 may flex while, in at least somecircumstances, the second lock elements 10056 may abut a proximalshoulder 10048 defined in the second lock cavity 10046. More precisely,the outer-most second lock element 10056 may abut the proximal shoulder10048 while the other second lock elements 10056 may abut an adjacentsecond lock element 10056. In some circumstances, the proximal shoulder10048 can arrest the movement of the second lock elements 10056. Incertain circumstances, the proximal shoulder 10048 can provide strainrelief. For instance, once the proximal shoulder 10048 is in contactwith the second lock elements 10056, the proximal shoulder 10048 cansupport the second lock elements 10056 at a location which is adjacentto, or at least substantially adjacent to, the lock rail 10011 such thatonly a small lever arm, or torque arm, separates opposing forcestransmitted through the second lock elements 10056 at differentlocations thereof. In such circumstances, in effect, the forcetransmitted through the tangs 10058 of the second lock elements 10056may be reduced or eliminated.

Discussed in connection with the exemplary embodiment illustrated inFIGS. 102-112, an initial proximal movement of the proximal articulationdriver 10030 can unlock the proximal movement of the distal articulationdriver 10040 and the articulation lock 10050 while a further proximalmovement of the proximal articulation driver 10030 can drive the distalarticulation driver 10040 and the articulation lock 10050 proximally.Similarly, an initial distal movement of the proximal articulationdriver 10030 can unlock the distal movement of the distal articulationdriver 10040 and the articulation lock 10050 while a further distalmovement of the proximal articulation driver 10030 can drive the distalarticulation driver 10040 and the articulation lock 10050 distally. Sucha general concept is discussed in connection with several additionalexemplary embodiments disclosed below. To the extent that suchdiscussion is duplicative, or generally cumulative, with the discussionprovided in connection with the exemplary embodiment disclosed in FIGS.102-112, such discussion is not reproduced for the sake of brevity.

Turning now to FIGS. 113 and 114, a surgical instrument, such assurgical instrument 10000, and/or any other surgical instrument system,for example, can comprise a proximal articulation driver 10130, a distalarticulation driver 10140, and an articulation lock 10150. Thearticulation lock 10150 can comprise a frame 10152 which can include aslot, or lock channel, 10151 defined therein configured to receive atleast a portion of the proximal articulation driver 10130 and at least aportion of the distal articulation driver 10140. The articulation lock10150 can further comprise a first lock element 10154 positioned withina first, or distal, lock cavity 10144 and a second lock element 10155positioned within a second, or proximal, lock cavity 10146. Similar tothe above, the first lock element 10154 can be configured to resist aproximal pushing force P transmitted through the distal articulationdriver 10140. To this end, the distal articulation driver 10140 caninclude a lock recess 10145 defined therein which can include one ormore lock surfaces configured to engage the first lock element 10154 andprevent the movement of the distal articulation driver 10140 relative tothe lock frame 10152. More specifically, a sidewall of the lock recess10145 can comprise a first, or distal, lock surface 10141 which can beconfigured to wedge the first lock element 10154 against a sidewall, orlock wall, 10153 of the lock channel 10151 and, owing to this wedgedrelationship, the distal articulation driver 10140 may not be able topass between the first lock element 10154 and the opposing sidewall10157 of the lock channel 10151. The reader will appreciate that thelock recess 10145 is contoured such that it gradually decreases in depthtoward the distal end of the lock recess 10145 wherein, correspondingly,the distal articulation driver 10140 gradually increases in thicknesstoward the distal end of the lock recess 10145. As a result, a proximalpushing force P applied to the distal articulation driver 10140 may onlyserve to further increase the resistance, or wedging force, holding thedistal articulation driver 10140 in position.

In order to pull the distal articulation driver 10140 proximally, theproximal articulation driver 10130 can be configured to, one, displacethe distal lock element 10154 proximally to unlock the articulation lock10150 in the proximal direction and, two, directly engage the distalarticulation driver 10140 and apply a proximal pulling force thereto.More specifically, further to the above, the proximal articulationdriver 10130 can comprise a distal arm 10134 configured to initiallyengage the first lock element 10154 and a proximal arm 10136 which canbe configured to then engage a proximal drive wall 10147 defined at theproximal end of the lock recess 10145 and pull the distal articulationdriver 10140 proximally. Similar to the above, the proximal movement ofthe distal articulation driver 10140 can be configured to articulate theend effector of the surgical instrument. Once the end effector has beensuitably articulated, the proximal articulation driver 10130 can bereleased, in various circumstances, to permit a spring 10155 positionedintermediate the first lock element 10154 and the second lock element10156 to expand and sufficiently re-position the first lock element10154 relative to the first lock surface 10141 and re-lock the distalarticulation driver 10140 and the end effector in position.

Concurrent to the above, the second lock element 10156 may not resist,or at least substantially resist, the proximal movement of the distalarticulation driver 10140. When the articulation lock 10150 is in alocked condition, the second lock element 10156 may be positionedbetween a second, or proximal, lock surface 10143 of the lock recess10145 and the lock wall 10153 of the lock channel 10151. As the distalarticulation driver 10140 is pulled proximally by the proximalarticulation driver 10130, further to the above, a dwell portion 10142of the lock recess 10145 may move over the second lock element 10156. Invarious circumstances, the dwell portion 10142 of the lock recess 10145may comprise the widest portion of the recess 10145 which may, as aresult, permit relative sliding movement between the distal articulationdriver 10140 and the second lock element 10156 as the distalarticulation driver 10140 is pulled proximally. In some circumstances,the second lock element 10156 can be configured to roll within the dwellportion 10142 thereby reducing the resistance force between the distalarticulation driver 10140 and the second lock element 10156. As thereader will appreciate, the second lock element 10156 may be permissiveto the proximal movement of the distal articulation driver 10140 but canbe configured to selectively resist the distal movement of the distalarticulation driver 10140 as discussed in greater detail further below.

Similar to the above, the second lock element 10156 can be configured toresist a distal pulling force D transmitted through the distalarticulation member 10140. To this end, the second lock surface 10143 ofthe lock recess 10145 can be configured to wedge the second lock element10156 against the lock wall 10153 of the lock channel 10151 and, owingto this wedged relationship, the distal articulation driver 10140 maynot be able to pass between the second lock element 10156 and theopposing sidewall 10157 of the lock channel 10151. The reader willappreciate that the lock recess 10145 is contoured such that itgradually decreases in depth toward the proximal end of the lock recess10145 wherein, correspondingly, the distal articulation driver 10140gradually increases in thickness toward the proximal end of the lockrecess 10145. As a result, a distal pulling force D applied to thedistal articulation driver 10140 may only serve to further increase theresistance, or wedging force, holding the distal articulation driver10140 in position.

In order to push the distal articulation driver 10140 distally, theproximal articulation driver 10130 can be configured to, one, displacethe second lock element 10156 distally to unlock the articulation lock10150 in the distal direction and, two, directly engage the distalarticulation driver 10140 and apply a distal pushing force thereto. Morespecifically, further to the above, the proximal arm 10136 of theproximal articulation driver 10130 can be configured to initially engagethe second lock element 10156 wherein the distal arm 10134 can thenengage a distal drive wall 10148 defined at the distal end of the lockrecess 10145 and push the distal articulation driver 10140 distally.Similar to the above, the distal movement of the distal articulationdriver 10140 can be configured to articulate the end effector of thesurgical instrument. Once the end effector has been suitablyarticulated, the proximal articulation driver 10130 can be released, invarious circumstances, to permit the spring 10155 to expand andsufficiently re-position the second lock element 10156 relative to thesecond lock surface 10143 in order to re-lock the distal articulationdriver 10140 and the end effector in position.

Concurrent to the above, the first lock element 10154 may not resist, orat least substantially resist, the distal movement of the distalarticulation driver 10140. When the articulation lock 10150 is in alocked condition, the first lock element 10154 may be positioned betweenthe first lock surface 10141 of the lock recess 10145 and the lock wall10153 of the lock channel 10151, as discussed above. As the distalarticulation driver 10140 is pushed distally by the proximalarticulation driver 10130, further to the above, the dwell portion 10142of the lock recess 10145 may move over the first lock element 10154. Invarious circumstances, the dwell portion 10142 may permit relativesliding movement between the distal articulation driver 10140 and thefirst lock element 10154 as the distal articulation driver 10140 ispushed distally. In some circumstances, the first lock element 10154 canbe configured to roll within the dwell portion 10142 thereby reducingthe resistance force between the distal articulation driver 10140 andthe first lock element 10154. As the reader will appreciate, the firstlock element 10154 may be permissive to the distal movement of thedistal articulation driver 10140 but can selectively resist the proximalmovement of the distal articulation driver 10140, as discussed above.

Further to the above, the first lock surface 10141, the dwell 10142, andthe second lock surface 10143 of the lock recess 10145 can define asuitable contour. Such a contour can be defined by first, second, andthird flat surfaces which comprise the first lock surface 10141, thedwell 10142, and the second lock surface 10143, respectively. In suchcircumstances, definitive breaks between the first lock surface 10141,the dwell 10142, and the second lock surface 10143 can be identified. Invarious circumstances, the first lock surface 10141, the dwell 10142,and the second lock surface 10143 can comprise a continuous surface,such as an arcuate surface, for example, wherein definitive breaksbetween the first lock surface 10141, the dwell 10142, and the secondlock surface 10143 may not be present.

Turning now to FIGS. 115 and 116, a surgical instrument, such assurgical instrument 10000, and/or any other surgical instrument system,for example, can comprise a shaft 10210, an articulation driver systemcomprising a proximal articulation driver 10230 and a distalarticulation driver 10240, and an articulation lock 10250 configured toreleasably hold the distal articulation driver 10240 in position. Thegeneral operation of the articulation driver system is the same as, orat least substantially similar to, the articulation driver systemdiscussed in connection with the embodiment disclosed in FIGS. 113 and114 and, as a result, such discussion is not repeated herein for thesake of brevity. As the reader will appreciate, referring to FIGS. 115and 116, the articulation lock 10250 can comprise a first lock element10254 which can provide a one-way lock configured to releasably inhibitthe proximal movement of the distal articulation driver 10240 and asecond lock element 10256 which can provide a second one-way lockconfigured to releasably inhibit the distal movement of the distalarticulation driver 10240. Similar to the above, the first lock element10254 and the second lock element 10256 can be positioned within a lockrecess 10245 defined in the distal articulation driver 10240 and can bebiased into a locked condition by a biasing member, or spring, 10255,for example. In order to unlock the first lock element 10254, similar tothe above, the proximal articulation driver 10230 can be pulledproximally such that a distal hook 10234 contacts the first lock element10254 and pulls the first lock element 10254 proximally. Thereafter, theproximal articulation driver 10230 can be pulled further proximallyuntil the distal hook 10234 contacts the distal articulation driverframe 10242 and pulls the distal articulation driver 10240 proximallyand articulates the end effector 10020, similar to the embodimentsdescribed above. In order to unlock the second lock element 10256,similar to the above, the proximal articulation driver 10230 can bepushed distally such that a proximal hook 10236 contacts the second lockelement 10256 and pushes the second lock element 10256 distally.Thereafter, the proximal articulation driver 10230 can be pushed furtherdistally until the proximal hook 10236 contacts the distal articulationdriver frame 10242 and pushes the distal articulation driver 10240distally and articulate the end effector 10020 in an opposite direction,similar to the embodiments described above. In various circumstances,the first lock element 10254 and the second lock element 10256 can eachcomprise a rotatable spherical element, or bearing, for example, whichcan be configured to reduce the sliding friction between the lockelements 10254, 10256, the shaft frame 10212, the proximal articulationdriver 10230, and/or the distal articulation driver 10240.

Turning now to FIGS. 125-130, a surgical instrument, such as surgicalinstrument 10000, and/or any other surgical instrument system, forexample, can comprise an articulation driver system comprising aproximal articulation driver 10330 and a distal articulation driver10340, and an articulation lock 10350 configured to releasably hold thedistal articulation driver 10340 in position. In many aspects, thegeneral operation of the articulation driver system is the same as, orat least substantially similar to, the articulation driver systemdiscussed in connection with the embodiments disclosed above and, as aresult, such aspects are not repeated herein for the sake of brevity. Asthe reader will appreciate, primarily referring to FIGS. 125 and 126,the articulation lock 10350 can comprise a first lock element 10354which can provide a one-way lock configured to releasably inhibit theproximal movement of the distal articulation driver 10340 and a secondlock element 10356 which can provide a second one-way lock configured toreleasably inhibit the distal movement of the distal articulation driver10340. Similar to the above, the first lock element 10354 can bepositioned within a first, or distal, lock recess 10344 and the secondlock element 10356 can be positioned within a second, or proximal, lockrecess 10346 defined in the distal articulation driver 10340 and can bebiased into a locked condition by a biasing member, or spring, 10355,for example. In order to unlock the first lock element 10354, referringgenerally to FIG. 129, the proximal articulation driver 10330 can bepulled proximally such that a distal hook 10334 contacts the first lockelement 10354 and pulls the first lock element 10354 proximally.Thereafter, as illustrated in FIG. 129, the proximal articulation driver10330 can be pulled further proximally until the first lock element10354 contacts an intermediate shoulder 10345 extending from a frame10342 of the articulation driver frame 10340 and pulls the distalarticulation driver 10340 proximally to articulate the end effector,similar to the embodiments described above. Once the end effector hasbeen sufficiently articulated, the proximal articulation driver 10330can be released which can permit the biasing spring 10355 to displacethe lock elements 10354 and 10356 away from each other and seat the lockelements 10354 and 10356 in a locked condition, as illustrated in FIG.130. In order to unlock the second lock element 10356, referringgenerally to FIG. 127, the proximal articulation driver 10330 can bepushed distally such that a proximal hook 10336 contacts the second lockelement 10356 and pushes the second lock element 10356 distally.Thereafter, the proximal articulation driver 10330 can be pushed furtherdistally until the second lock element 10356 contacts the intermediateshoulder 10345 of the distal articulation driver frame 10342 and pushesthe distal articulation driver 10340 distally to articulate the endeffector in an opposite direction, similar to the embodiments describedabove. Once the end effector has been sufficiently articulated, similarto the above, the proximal articulation driver 10330 can be releasedwhich can permit the biasing spring 10355 to displace the lock elements10354 and 10356 away from each other and seat the lock elements 10354and 10356 in a locked condition, as illustrated in FIG. 128.

In various circumstances, further to the above, the first lock element10354 and the second lock element 10356 can each comprise a wedge, forexample, which can be configured to lock the distal articulation driver10340 in position. Referring primarily again to FIGS. 125 and 126, thearticulation lock 10350 can comprise a frame 10352 including a lockchannel 10351 defined therein which can be configured to receive atleast a portion of the proximal articulation driver 10330 and at least aportion of the distal articulation driver 10340. The first lock cavity10344, further to the above, can be defined between the distalarticulation driver 10340 and a lock wall 10353 of the lock channel10351. When a proximal load P is transmitted to the distal articulationdriver 10340 from the end effector, the distal articulation driver 10340can engage a wedge portion 10358 of the first lock element 10354 andbias the first lock element 10354 against the lock wall 10353. In suchcircumstances, the proximal load P may only increase the wedging forceholding the first lock element 10354 in position. In effect, the firstlock element 10354 can comprise a one-way lock which can inhibit theproximal movement of the distal articulation driver 10340 until thefirst lock element 10354 is unlocked, as described above. When the firstlock element 10354 is unlocked and the distal articulation driver 10340is being moved proximally, the second lock element 10356 may not resist,or at least substantially resist, the proximal movement of the distalarticulation driver 10340. Similar to the above, the second lock cavity10346, further to the above, can be defined between the distalarticulation driver 10340 and the lock wall 10353. When a distal load Dis transmitted to the distal articulation driver 10340 from the endeffector, the distal articulation driver 10340 can engage a wedgeportion 10359 of the second lock element 10356 and bias the second lockelement 10356 against the lock wall 10353. In such circumstances, thedistal load D may only increase the wedging force holding the secondlock element 10356 in position. In effect, the second lock element 10356can comprise a one-way lock which can inhibit the distal movement of thedistal articulation driver 10340 until the second lock element 10356 isunlocked, as described above. When the second lock element 10356 isunlocked and the distal articulation driver 10340 is being moveddistally, the first lock element 10354 may not resist, or at leastsubstantially resist, the distal movement of the distal articulationdriver 10340.

Turning now to FIGS. 117-124, a surgical instrument, such as surgicalinstrument 10000, and/or any other surgical instrument system, forexample, can comprise an articulation driver system comprising aproximal articulation driver 10430 and a distal articulation driver10440, and an articulation lock 10450 configured to releasably hold thedistal articulation driver 10440 in position. As the reader willappreciate, primarily referring to FIGS. 117 and 118, the articulationlock 10450 can comprise a first lock cam 10454 which can provide aone-way lock configured to releasably inhibit the distal movement of thedistal articulation driver 10440 and a second lock cam 10456 which canprovide a second one-way lock configured to releasably inhibit theproximal movement of the distal articulation driver 10440. The firstlock cam 10454 can be rotatably mounted to the distal articulationdriver 10440 and can include a projection 10457 rotatably positionedwithin a pivot aperture 10447 defined in the distal articulation driver10440. Similarly, the second lock cam 10456 can be rotatably mounted tothe distal articulation driver 10440 and can include a projection 10458rotatably positioned within a pivot aperture 10448 which is also definedin the distal articulation driver 10440. The articulation lock 10450 canfurther comprise a frame 10452 having a lock channel 10451 definedtherein which can be configured to receive at least a portion of theproximal articulation driver 10430, at least a portion of the distalarticulation driver 10440, the first lock cam 10454, and the second lockcam 10456. The lock channel 10451 can comprise a first lock wall 10453and a second lock wall 10459 wherein, when the articulation lock 10450is in a locked state, the first lock cam 10454 can be biased intoengagement with the first lock wall 10453 and the second lock cam 10456can be biased into engagement with the second lock wall 10459. The firstlock cam 10454 can be configured to bias a first bearing point 10445 ofthe distal articulation driver 10440 against the second lock wall 10459when the first lock cam 10454 is in its locked position. Similarly, thesecond lock cam 10456 can be configured to bias a second bearing point10446 of the distal articulation driver 10440 against the first lockwall 10453 when the second lock cam 10454 is in its locked position.Such a locked state is illustrated in FIG. 119. As also illustrated inFIG. 119, the articulation lock 10450 can be biased into a locked stateby a spring 10455. The spring 10455 can be configured to rotate thefirst lock cam 10454 about its projection 10457 such that a lobe of thefirst lock cam 10454 engages the first lock wall 10453 and, similarly,to rotate the second lock cam 10456 about its projection 10458 such thata lobe of the second lock cam 10456 engages the second lock wall 10459.In various circumstances, the first lock cam 10454 and the second lockcam 10456 can each comprise a spring aperture 10449 defined thereinwhich can be configured to receive an end of the spring 10455 such thatthe spring 10455 can apply the biasing forces discussed above.

In order to unlock the first lock cam 10454, referring generally to FIG.120, the proximal articulation driver 10430 can be pushed distally suchthat a distal drive shoulder 10434 of the proximal articulation driver10430 contacts the first lock cam 10454 and pushes the first lock cam10454 distally. In various circumstances, the first lock cam 10454 cancomprise a drive pin 10437 extending therefrom which can be contacted bythe distal drive shoulder 10434 such that, as the proximal articulationdriver 10430 is pushed distally, the first lock cam 10454 and the distalarticulation driver 10440 can be slid distally relative to the firstlock surface 10451. In some circumstances, the first lock cam 10454 mayrotate about its projection 10447 in order to accommodate such movement.In any event, similar to the above, the distal movement of the distalarticulation driver 10440 can articulate the end effector. Once the endeffector has been sufficiently articulated, the proximal articulationdriver 10430 can be released which can permit the biasing spring 10455to displace the lock cams 10454 and 10456 into engagement with the locksurfaces 10453 and 10459, respectively, and place the articulation lock10450 in its locked condition, as illustrated in FIG. 119. In order tounlock the second lock cam 10456, referring generally to FIG. 121, theproximal articulation driver 10430 can be pulled proximally such that aproximal drive shoulder 10436 contacts the second lock cam 10456 andpulls the second lock cam 10456 proximally. In various circumstances,the second lock cam 10456 can comprise a drive pin 10438 extendingtherefrom which can be contacted by the proximal drive shoulder 10436such that, as the proximal articulation driver 10430 is pulledproximally, the second lock cam 10456 and the distal articulation driver10440 can be slid proximally relative to the second lock surface 10459.In some circumstances, the second lock cam 10456 may rotate about itsprojection 10458 in order to accommodate such movement. In any event,similar to the above, the proximal movement of the distal articulationdriver 10440 can articulate the end effector in an opposite direction.Similar to the above, once the end effector has been sufficientlyarticulated, the proximal articulation driver 10430 can be releasedwhich can permit the biasing spring 10455 to displace the lock cams10454 and 10456 into engagement with lock surfaces 10453 and 10459,respectively, and place the articulation lock 10450 in its lockedcondition, as illustrated in FIG. 119.

Further to the above, when a proximal load P is transmitted to thedistal articulation driver 10440 from the end effector when thearticulation lock 10450 is in its locked condition, the second lock cam10456 will be further biased into engagement with the lock wall 10459.In such circumstances, the proximal load P may only increase the wedgingforce holding the second lock cam 10456 in position. In effect, thesecond lock cam 10456 can comprise a one-way lock which can inhibit theproximal movement of the distal articulation driver 10440 until thesecond lock cam 10456 is unlocked, as described above. When the secondlock cam 10456 is unlocked and the distal articulation driver 10440 isbeing moved proximally, the first lock cam 10454 may not resist, or atleast substantially resist, the proximal movement of the distalarticulation driver 10440. When a distal load D is transmitted to thedistal articulation driver 10440 from the end effector when thearticulation lock 10450 is in its locked condition, the first lock cam10454 will be further biased into engagement with the lock wall 10453.In such circumstances, the distal load D may only increase the wedgingforce holding the first lock cam 10454 in position. In effect, the firstlock cam 10454 can comprise a one-way lock which can inhibit the distalmovement of the distal articulation driver 10440 until the first lockcam 10454 is unlocked, as described above. When the first lock cam 10454is unlocked and the distal articulation driver 10440 is being moveddistally, the second lock cam 10454 may not resist, or at leastsubstantially resist, the distal movement of the distal articulationdriver 10440.

As discussed above, a surgical instrument can comprise a firing drivefor treating tissue captured within an end effector of the surgicalinstrument, an articulation drive for articulating the end effectorabout an articulation joint, and a clutch assembly which can be utilizedto selectively engage the articulation drive with the firing drive. Anexemplary clutch assembly 10070 was discussed above while anotherexemplary clutch assembly, i.e., clutch assembly 11070, is discussedbelow. In various circumstances, the surgical instruments disclosedherein can utilize either clutch assembly.

Turning now to FIGS. 131-149, a surgical instrument can utilize a shaftassembly 11010 which can include an end effector 10020, an articulationjoint 10090, and an articulation lock 10050 which can be configured toreleasably hold the end effector 10020 in position. The reader willappreciate that portions of the end effector 10020 have been removed inFIGS. 131-133 for the purposes of illustration; however, the endeffector 10020 can include a staple cartridge positioned therein and/oran anvil rotatably coupled to a channel supporting the staple cartridge.The operation of the end effector 10020, the articulation joint 10090,and the articulation lock 10050 was discussed above and is not repeatedherein for sake of brevity. The shaft assembly 11010 can further includea proximal housing comprised of housing portions 11002 and 11003, forexample, which can connect the shaft assembly 11010 to a handle of asurgical instrument. The shaft assembly 11010 can further include aclosure tube 11015 which can be utilized to close and/or open the anvilof the end effector 10020. Primarily referring now to FIGS. 132-134, theshaft assembly 11010 can include a spine 11004 which can be configuredto fixably support the shaft frame portion 10012, which is discussedabove in connection with articulation lock 10050. The spine 11004 can beconfigured to, one, slidably support a firing member 11060 therein and,two, slidably support the closure tube 11015 which extends around thespine 11004. The spine 11004 can also be configured to slidably supporta proximal articulation driver 11030. In various circumstances, thespine 11004 can comprise a proximal end 11009 which is supported by aframe portion 11001 that can be configured to permit the spine 11004 tobe rotated about its longitudinal axis.

Further to the above, the shaft assembly 11010 can include a clutchassembly 11070 which can be configured to selectively and releasablycouple the proximal articulation driver 11030 to the firing member11060. The clutch assembly 11070 can comprise a lock collar, or sleeve,11072 positioned around the firing member 11060 wherein the lock sleeve11072 can be rotated between an engaged position in which the locksleeve 11072 couples the proximal articulation driver 11030 to thefiring member 11060 and a disengaged position in which the proximalarticulation driver 11030 is not operably coupled to the firing member11060. When lock sleeve 11072 is in its engaged position (FIGS. 135,136, 138, 139, 141, and 145-149), further to the above, distal movementof the firing member 11060 can move the proximal articulation driver11030 distally and, correspondingly, proximal movement of the firingmember 11060 can move the proximal articulation driver 11030 proximally.When lock sleeve 11072 is in its disengaged position (FIGS. 142-144),movement of the firing member 11060 is not transmitted to the proximalarticulation driver 11030 and, as a result, the firing member 11060 canmove independently of the proximal articulation driver 11030. In variouscircumstances, the proximal articulation driver 11030 can be held inposition by the articulation lock 11050 when the proximal articulationdriver 11030 is not being moved in the proximal or distal directions bythe firing member 11060.

Referring primarily to FIG. 134, the lock sleeve 11072 can comprise acylindrical, or an at least substantially cylindrical, body including alongitudinal aperture defined therein configured to receive the firingmember 11060. The lock sleeve 11072 can comprise a first,inwardly-facing lock member 11073 and a second, outwardly-facing lockmember 11078. The first lock member 11073 can be configured to beselectively engaged with the firing member 11060. More particularly,when the lock sleeve 11072 is in its engaged position, the first lockmember 11073 can be positioned within a drive notch 11062 defined in thefiring member 11060 such that a distal pushing force and/or a proximalpulling force can be transmitted from the firing member 11060 to thelock sleeve 11072. When the lock sleeve 11072 is in its engagedposition, the second lock member 11078 can be positioned within a drivenotch 11035 defined in the proximal articulation driver 11035 such thatthe distal pushing force and/or the proximal pulling force applied tothe lock sleeve 11072 can be transmitted to the proximal articulationdriver 11030. In effect, the firing member 11060, the lock sleeve 11072,and the proximal articulation driver 11030 will move together when thelock sleeve 11072 is in its engaged position. On the other hand, whenthe lock sleeve 11072 is in its disengaged position, the first lockmember 11073 may not be positioned within the drive notch 11062 of thefiring member 11060 and, as a result, a distal pushing force and/or aproximal pulling force may not be transmitted from the firing member11060 to the lock sleeve 11072. Correspondingly, the distal pushingforce and/or the proximal pulling force may not be transmitted to theproximal articulation driver 11030. In such circumstances, the firingmember 11060 can be slid proximally and/or distally relative to the locksleeve 11072 and the proximal articulation driver 11030. In order toaccommodate such relative movement, in such circumstances, the firingmember 11060 can include a longitudinal slot or groove 11061 definedtherein which can be configured to receive the first lock member 11073of the lock sleeve 11072 when the lock sleeve 11072 is in its disengagedposition and, furthermore, accommodate the longitudinal movement of thefiring member 11060 relative to the lock sleeve 11072. In variouscircumstances, the second lock member 11078 can remain engaged with thedrive notch 11035 in the proximal articulation driver 11030 regardlessof whether the lock sleeve 11072 is in its engaged position or itsdisengaged position.

Further to the above, the clutch assembly 11070 can further comprise arotatable lock actuator 11074 which can be configured to rotate the locksleeve 11072 between its engaged position and its disengaged position.In various circumstances, the lock actuator 11074 can comprise a collarwhich can surround the lock sleeve 11072, a longitudinal apertureextending through the collar, and referring primarily to FIG. 135, aninwardly-extending drive element 11077 engaged with the lock sleeve11072. Referring again to FIG. 134, the lock sleeve 11072 can comprise alongitudinal slot 11079 defined therein within which the drive element11077 of the lock actuator 11074 can be received. Similar to the above,the lock actuator 11074 can be moved between an engaged position inwhich the lock actuator 11074 can position the lock sleeve 11072 in itsengaged position and a disengaged position in which the lock actuator11074 can position the lock sleeve 11072 in its disengaged position. Inorder to move the lock sleeve 11072 between its engaged position and itsdisengaged position, the lock actuator 11074 can be rotated about itslongitudinal axis such that the drive element 11077 extending therefromengages a sidewall of the slot 11079 to impart a rotational force to thelock sleeve 11072. In various circumstances, the lock actuator 11074 canbe constrained such that it does not move longitudinally with the locksleeve 11072. In such circumstances, the lock actuator 11074 may rotatewithin an at least partially circumferential window 11089 defined in theshaft spine 11004. In order to accommodate the longitudinal movement ofthe lock sleeve 11072 when the lock sleeve 11072 is in its engagedposition, the lock sleeve 11072 can further include a longitudinalopening 11079 within which the drive element 11077 can travel. Invarious circumstances, the longitudinal opening 11079 can include acenter notch 11076 which can correspond with the unarticulated positionof the end effector 10020. In such circumstances, the center notch 11076can serve as a detent configured to releasably hold or indicate thecentered orientation of the end effector 10020, for example.

Further to the above, referring primarily to FIG. 134, the lock actuator11074 can further comprise a cam follower 11081 extending outwardlytherefrom which can be configured to receive a force applied thereto inorder to rotate the lock sleeve 11072 as described above. In variouscircumstances, the shaft assembly 11010 can further comprise a switchdrum 11075 which can be configured to apply a rotational force to thecam follower 11081. The switch drum 11075 can extend around the lockactuator 11074 and include a longitudinal slot 11083 defined thereinwithin which the cam follower 11081 can be disposed. When the switchdrum 11075 is rotated, a sidewall of the slot 11083 can contact the camfollower 11081 and rotate the lock actuator 11074, as outlined above.The switch drum 11075 can further comprise at least partiallycircumferential openings 11085 defined therein which, referring to FIG.137, can be configured to receive circumferential mounts 11007 extendingfrom the shaft housing comprising housing halves 11002 and 11003 andpermit relative rotation, but not translation, between the switch drum11075 and the shaft housing. Referring again to FIG. 134, the switchdrum 11075 can be utilized to rotate the lock actuator 11074 and thelock sleeve 11072 between their engaged and disengage positions. Invarious circumstances, the shaft assembly 11010 can further comprise abiasing member, such as spring 11080, for example, which can beconfigured to bias the switch drum 11075 in a direction which biases thelock actuator 11074 and the lock sleeve 11072 into their engagedpositions. Thus, in essence, the spring 11080 and the switch drum 11075can be configured to bias the articulation drive system into operativeengagement with the firing drive system. As also illustrated in FIG.134, the switch drum 11075 can comprise portions of a slip ring assembly11005 which can be configured to conduct electrical power to and/or fromthe end effector 10020 and/or communicate signals to and/or from the endeffector 10020. The slip ring assembly 11005 can comprise a plurality ofconcentric, or at least substantially concentric, conductors 11008 onopposing sides thereof which can be configured to permit relativerotation between the halves of the slip ring assembly 11005 while stillmaintaining electrically conductive pathways therebetween. U.S. patentapplication Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, is incorporated byreference in its entirety. U.S. patent application Ser. No. 13/800,025,entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar.13, 2013, is incorporated by reference in its entirety.

In various circumstances, further to the above, the closure mechanism ofthe shaft assembly 11010 can be configured to bias the clutch assembly11070 into its disengaged state. For instance, referring primarily toFIGS. 134 and 144-147, the closure tube 11015 can be advanced distallyto close the anvil of the end effector 10020, as discussed above and, indoing so, cam the lock actuator 11074 and, correspondingly, the locksleeve 11072, into their disengaged positions. To this end, the closuretube 11015 can comprise a cam window 11016, through which the camfollower 11081 extending from the lock actuator 11074 can extend. Thecam window 11016 can include an angled sidewall, or cam edge, 11017which can be configured to engage the cam follower 11081 as the closuretube 11015 is moved distally between an open, or unclosed, position(FIGS. 145-149) to a closed position (FIGS. 142-144) and rotate the lockactuator 11074 from its engaged position (FIGS. 145-149) to itsdisengaged position (FIGS. 142-144). Upon comparing FIGS. 144 and 149,the reader will appreciate that, when the cam follower 11081 and thelock actuator 11074 are cammed into their disengaged position, the camfollower 11081 can rotate the switch drum 11075 and compress the spring11080 between the switch drum 11075 and the shaft housing. As long asthe closure tube 11015 remains in its advanced, closed position, thearticulation drive will be disconnected from the firing drive. In orderto re-engage the articulation drive with the firing drive, the closuretube 11015 can be retracted into its unactuated position, which can alsoopen the end effector 10020, and can, as a result, pull the cam edge11017 proximally and permit the spring 11080 to re-bias the lockactuator 11074 and the lock sleeve 11072 into their engaged positions.

As described elsewhere in greater detail, the surgical instrument 1010may include several operable systems that extend, at least partially,through the shaft 1210 and are in operable engagement with the endeffector 1300. For example, the surgical instrument 1010 may include aclosure assembly that may transition the end effector 1300 between anopen configuration and a closed configuration, an articulation assemblythat may articulate the end effector 1300 relative to the shaft 1210,and/or a firing assembly that may fasten and/or cut tissue captured bythe end effector 1300. In addition, the surgical instrument 1010 mayinclude a housing such as, for example, the handle 1042 which may beseparably couplable to the shaft 1210 and may include complimentingclosure, articulation, and/or firing drive systems that can be operablycoupled to the closure, articulation, and firing assemblies,respectively, of the shaft 1210 when the handle 1042 is coupled to theshaft 1210.

In use, an operator of the surgical instrument 1010 may desire to resetthe surgical instrument 1010 and return one or more of the assemblies ofthe surgical instrument 1010 to a default position. For example, theoperator may insert the end effector 1300 into a surgical site within apatient through an access port and may then articulate and/or close theend effector 1300 to capture tissue within the cavity. The operator maythen choose to undo some or all of the previous actions and may chooseto remove the surgical instrument 1010 from the cavity. The surgicalinstrument 1010 may include one more systems configured to facilitate areliable return of one or more of the assemblies described above to ahome state with minimal input from the operator thereby allowing theoperator to remove the surgical instrument from the cavity.

Referring to FIG. 150, the surgical instrument 1010 may include anarticulation control system 3000. A surgical operator may utilize thearticulation control system 3000 to articulate the end effector 1300relative to the shaft 1210 between an articulation home state positionand an articulated position. In addition, the surgical operator mayutilize the articulation control system 3000 to reset or return thearticulated end effector 1300 to the articulation home state position.The articulation control system 3000 can be positioned, at leastpartially, in the handle 1042. In addition, as illustrated in theexemplary schematic block diagram in FIG. 151, the articulation controlsystem 3000 may comprise a controller such as, for example, controller3002 which can be configured to receive an input signal and, inresponse, activate a motor such as, for example, motor 1102 to cause theend effector 1300 to articulate in accordance with such an input signal.Examples of suitable controllers are described elsewhere in thisdocument and include but are not limited to microcontroller 7004 (SeeFIG. 185).

Further to the above, the end effector 1300 can be positioned insufficient alignment with the shaft 1210 in the articulation home stateposition, also referred to herein as an unarticulated position such thatthe end effector 1300 and at least a portion of shaft 1210 can beinserted into or retracted from a patient's internal cavity through anaccess port such as, for example, a trocar positioned in a wall of theinternal cavity without damaging the axis port. In certain embodiments,the end effector 1300 can be aligned, or at least substantially aligned,with a longitudinal axis “LL” passing through the shaft 1210 when theend effector 1300 is in the articulation home state position, asillustrated in FIG. 150. In at least one embodiment, the articulationhome state position can be at any angle up to and including 5°, forexample, with the longitudinal axis on either side of the longitudinalaxis. In another embodiment, the articulation home state position can beat any angle up to and including 3°, for example, with the longitudinalaxis on either side of the longitudinal axis. In yet another embodiment,the articulation home state position can be at any angle up to andincluding 7°, for example, with the longitudinal axis on either side ofthe longitudinal axis.

The articulation control system 3000 can be operated to articulate theend effector 1300 relative to the shaft 1210 in a plane intersecting thelongitudinal axis in a first direction such as, for example, a clockwisedirection and/or a second direction opposite the first direction suchas, for example, a counterclockwise direction. In at least one instance,the articulation control system 3000 can be operated to articulate theend effector 1300 in the clockwise direction form the articulation homestate position to an articulated position at a 10° angle with thelongitudinal axis on the right to the longitudinal axis, for example. Inanother example, the articulation control system 3000 can be operated toarticulate the end effector 1300 in the counterclockwise direction formthe articulated position at the 10° angle with the longitudinal axis tothe articulation home state position. In yet another example, thearticulation control system 3000 can be operated to articulate the endeffector 1300 relative to the shaft 1210 in the counterclockwisedirection from the articulation home state position to an articulatedposition at a 10° angle with the longitudinal axis on the left of thelongitudinal axis. The reader will appreciate that the end effector canbe articulated to different angles in the clockwise direction and/or thecounterclockwise direction in response to the operator's commands.

Referring to FIG. 150, the handle 1042 of the surgical instrument 1010may comprise an interface 3001 which may include a plurality of inputsthat can be utilized by the operator, in part, to articulate the endeffector 1300 relative to the shaft 1210, as described above. In certainembodiments, the interface 3001 may comprise a plurality of switcheswhich can be coupled to the controller 3002 via electrical circuits, forexample. In the embodiment illustrated in FIG. 151, the interface 3001comprises three switches 3004A-C, wherein each of the switches 3004A-Cis coupled to the controller 3002 via one of three electrical circuits3006A-C, respectively. The reader will appreciate that othercombinations of switches and circuits can be utilized with the interface3001.

Further to the above, the controller 3002 may comprise a processor 3008and/or one or more memory units 3010. By executing instruction codestored in the memory 3010, the processor 3008 may control variouscomponents of the surgical instrument 1, such as the motor 1102 and/or auser display. The controller 3002 may be implemented using integratedand/or discrete hardware elements, software elements, and/or acombination of both. Examples of integrated hardware elements mayinclude processors, microprocessors, microcontrollers, integratedcircuits, application specific integrated circuits (ASIC), programmablelogic devices (PLD), digital signal processors (DSP), field programmablegate arrays (FPGA), logic gates, registers, semiconductor devices,chips, microchips, chip sets, microcontroller, system-on-chip (SoC),and/or system-in-package (SIP). Examples of discrete hardware elementsmay include circuits and/or circuit elements (e.g., logic gates, fieldeffect transistors, bipolar transistors, resistors, capacitors,inductors, relay and so forth). In other embodiments, the controller3002 may include a hybrid circuit comprising discrete and integratedcircuit elements or components on one or more substrates, for example.

Referring again to FIG. 151, the surgical instrument 1010 may include amotor controller 3005 in operable communication with the controller3002. The motor controller 3005 can be configured to control a directionof rotation of the motor 1102. For example, the motor 1102 can bepowered by a battery such as, for example, the battery 1104 and themotor controller 3002 may be configured to determine the voltagepolarity applied to the motor 1102 by the battery 1104 and, in turn, thedirection of rotation of the motor 1102 based on input from thecontroller 3002. For example, the motor 1102 may reverse the directionof its rotation from a clockwise direction to a counterclockwisedirection when the voltage polarity applied to the motor 1102 by thebattery 1104 is reversed by the motor controller 3005 based on inputfrom the controller 3002. Examples of suitable motor controllers aredescribed elsewhere in this document and include but are not limited tothe driver 7010 (FIG. 185).

In addition, as described elsewhere in this document in greater detail,the motor 1102 can be operably coupled to an articulation drive such as,for example, the proximal articulation drive 10030 (FIG. 37). In use,the motor 1102 can drive the proximal articulation drive 10030 distallyor proximally depending on the direction in which the motor 1102rotates. Furthermore, the proximal articulation drive 10030 can beoperably coupled to the end effector 1300 such that, for example, theaxial translation of the proximal articulation drive 10030 proximallymay cause the end effector 1300 to be articulated in thecounterclockwise direction, for example, and/or the axial translation ofthe proximal articulation drive 10030 distally may cause the endeffector 1300 to be articulated in the clockwise direction, for example.

Further to the above, referring again to FIG. 151, the interface 3001can be configured such that the switch 3004A can be dedicated toclockwise articulation of the end effector 1300 and the switch 3004B canbe dedicated to counterclockwise articulation of the end effector 1300.For example, the operator may articulate the end effector 1300 in theclockwise direction by closing the switch 3004A which may signal thecontroller 3002 to cause the motor 1102 to rotate in the clockwisedirection thereby, as a result, causing the proximal articulation drive10030 to be advanced distally and causing the end effector 1300 to bearticulated in the clockwise direction. In another example, the operatormay articulate the end effector 1300 in the counterclockwise directionby closing the switch 3004B which may signal the controller 3002 tocause the motor 1102 to rotate in the counterclockwise direction, forexample, and retracting the proximal articulation drive 10030 proximallyto articulate the end effector 1300 to in the counterclockwisedirection.

Further to the above, the switches 3004A-C can comprise open-biased domeswitches, as illustrated in FIG. 154. Other types of switches can alsobe employed such as, for example, capacitive switches. In the embodimentillustrated in FIG. 154, the dome switches 3004A and 3004B arecontrolled by a rocker 3012. Other means for controlling the switches3004A and 3004B are also contemplated within the scope of the presentdisclosure. In the neutral position, illustrated in FIG. 154, both ofthe switches 3004A and 3004B are biased in the open position. Theoperator, for example, may articulate the end effector 1300 in theclockwise direction by tilting the rocker forward thereby depressing thedome switch 3004A, as illustrated in FIG. 155. In result, the circuit3006A (FIG. 151) may be closed signaling the controller 3002 to activatethe motor 1102 to articulate the end effector 1300 in the clockwisedirection, as described above. The motor 1102 may continue to articulatethe end effector 1300 until the operator releases the rocker 3012thereby allowing the dome switch 3004A to return to the open positionand the rocker 3012 to the neutral position. In some circumstances, thecontroller 3002 may be able to identify when the end effector 1300 hasreached a predetermined maximum degree of articulation and, at suchpoint, interrupt power to the motor 1102 regardless of whether the domeswitch 3004A is being depressed. In a way, the controller 3002 can beconfigured to override the operator's input and stop the motor 1102 whena maximum degree of safe articulation is reached. Alternatively, theoperator may articulate the end effector 1300 in the counterclockwisedirection by tilting the rocker back thereby depressing the dome switch3004B, for example. In result, the circuit 3006B may be closed signalingthe controller 3002 to activate the motor 1102 to articulate the endeffector 1300 in the counterclockwise direction, as described above. Themotor 1102 may continue to articulate the end effector 1300 until theoperator releases the rocker 3012 thereby allowing the dome switch 3004Bto return to the open position and the rocker 3012 to the neutralposition. In some circumstances, the controller 3002 may be able toidentify when the end effector 1300 has reached a predetermined maximumdegree of articulation and, at such point, interrupt power to the motor1102 regardless of whether the dome switch 3004B is being depressed. Ina way, the controller 3002 can be configured to override the operator'sinput and stop the motor 1102 when a maximum degree of safe articulationis reached.

In certain embodiments, the articulation control system 3000 may includea virtual detent that may alert the operator when the end effectorreaches the articulation home state position. For example, the operatormay tilt the rocker 3012 to articulate the end effector 1300 from anarticulated position to the articulation home state position. Upon reachthe articulation home state position, the controller 3002 may stop thearticulation of the end effector 1300. In order to continue past thearticulation home state position, the operator may release the rocker3012 and then tilt it again to restart the articulation. Alternatively,a mechanical detent can also be used to provide haptic feedback for theoperator that the end effect reached the articulation home stateposition. Other forms of feedback may be utilized such as audiofeedback, for example.

Further to the above, the articulation control system 3000 may include areset input which may reset or return the end effector 1300 to thearticulation home state position if the end effector 1300 is in anarticulated position. For example, as illustrated in FIG. 160, uponreceiving a reset input signal, the controller 3002 may determine thearticulation position of the end effector 1300 and, if the end effector1300 is in the articulation home state position, the controller 3002 maytake no action. However, if the end effector 1300 is in an articulatedposition when it receives a reset input signal, the controller mayactivate the motor 1102 to return the end effector 1300 to thearticulation home state position. As illustrated in FIG. 156, theoperator may depress the rocker 3012 downward to close the dome switches3004A and 3004B simultaneously, or at least within a short time periodfrom each other, which may transmit the reset input signal to thecontroller 3002 to reset or return the end effector 1300 to thearticulation home state position. The operator may then release therocker 3012 thereby allowing the rocker 3012 to return to the neutralposition and the switches 3004A and 3004B to the open positions.Alternatively, the interface 3001 of articulation control system 3000may include a separate reset switch such as, for example, another domeswitch which can be independently closed by the operator to transmit thereset input signal to the controller 3002.

Referring to FIGS. 157-159, in certain embodiments, the interface 3001of the surgical instrument 1010 may include an interface rocker 3012Awhich may include a contact member 3013 which can be configured toassist the rocker 3012A into its neutral position, as illustrated inFIG. 157. The contact member 3013 can comprise an arcuate surface 3017which can be biased against the interface housing 3011 by a biasingmember and/or by biasing forces applied thereto by the dome switches3004A and 3004B. The contact member 3013 may be configured to rock, orrotate, when the operator tilts the rocker 3012A forward, as illustratedin FIG. 158, or back in order to articulate the end effector 1300 in theclockwise direction or the counterclockwise direction, respectively.When the rocker 3012A is released, the arcuate surface of the rocker3012A can be rotated back into its neutral position against theinterface housing 3011 by the biasing forces applied thereto. In variouscircumstances, the contact member 3013 may be displaced away from theinterface housing 3011 when the operator depresses the rocker 3012Adownwardly, as illustrated in FIG. 159, to depress the dome switches3004A and 3004B simultaneously, or at least within a short time periodfrom each other, which may transmit the reset input signal to thecontroller 3002 to reset or return the end effector 1300 to thearticulation home state position, as discussed above.

As described above, the controller 3002 can be configured to determinethe articulation position of the end effector 1300. Knowledge of thearticulation position of the end effector 1300 may allow the controller3002 to determine whether the motor 1102 needs to be activated to returnthe end effector 1300 to the articulation home state position and, ifso, to determine the direction of rotation, and the amount of therotation, of the motor 1102 required to return the end effector 1300 tothe articulation home state position. In certain embodiments, thecontroller 3002 may track the articulation of the end effector 1300 andstore the articulation position of the end effector 1300, for example,in the memory 3010. For example, the controller 3002 may track thedirection of rotation, speed of rotation, and the time of rotation ofthe motor 1102 when the motor 1102 is used to articulate the endeffector 1300. In some circumstances, the controller 3002 can beconfigured to evaluate the displacement of the firing system when thefiring system is used to drive the articulation system. Morespecifically, when the articulation drive is coupled to the firingdrive, the controller 3002 can monitor the firing drive in order todetermine the displacement of the articulation drive. The processor 3008may calculate the articulation position of the end effector 1300 basedon these parameters and store the displaced position of the articulationdrive in the memory 3010, for example. The reader will appreciate thatother parameters can be tracked and other algorithms can be utilized bythe processor 3010 to calculate the articulation position of the endeffector 1300, all of which are contemplated by the present disclosure.The stored articulation position of the end effector 1300 can becontinuously updated as the end effector 1300 is articulated.Alternatively, the stored articulation position can be updated atdiscrete points, for example, when the operator releases the dome switch3004A or the switch 3004B after depressing the same to articulate theend effector 1300.

In any event, upon receiving the reset input signal, the processor 3008may access the memory 3010 to recover the last stored articulationposition of the end effector 1300. If the last stored articulationposition is not the articulation home state position, the processor 3008may calculate the direction and time of rotation of the motor 1102required to return the end effector 1300 to the articulation home stateposition based on the last stored articulation position. In somecircumstances, the processor 3008 may calculate the distance anddirection in which the firing drive needs to be displaced in order toplace the articulation drive in its home state position. In eitherevent, the controller 3002 may activate the motor 1102 to rotateaccordingly to return the end effector 1300 to the articulation homestate position. Furthermore, the processor 3008 may also update thestored articulation position to indicate articulation home stateposition. However, if the last stored articulation position is thearticulation home state position, the controller 3002 may take noaction. In some circumstances, the controller 3002 may alert the userthrough some form of feedback that the end effector and the articulationsystem is in its home state position. For example, the controller 3002can be configured to activate a sound and/or a light signal to alert theoperator that the end effector 1300 is in the articulation home stateposition.

In certain embodiments, the surgical instrument 1010 may include asensor configured to detect the articulation position of the endeffector 1300 and communicate the same to the controller 3002. Similarto the above, the detected articulation position of the end effector1300 can be stored in the memory 3010 and can be continuously updated asthe end effector 1300 is articulated or can be updated when the operatorreleases the dome switch 3004A or after depressing the same toarticulate the end effector 1300, for example.

In certain embodiments, it may be desirable to include a warning stepprior to resetting or returning the end effector 1300 to thearticulation home state position to allow an operator a chance to remedyan erroneous activation of the reset switch. For example, the controller3002 can be configured to react to a first transmission of the resetinput signal to the controller 3002 by activating a light and/or a soundsignal alerting the operator that the rocker 3012 has been depressed. Inaddition, the controller 3002 can also be configured to react to asecond transmission of the reset input signal to the controller 3002within a predetermined time period from the first transmission byactivating the motor 1102 to return the end effector 1300 to thearticulation home state position. Said another way, a first downwarddepression of the rocker 3012 may yield a warning to the operator and asecond downward depression of the rocker 3012 within a predeterminedtime period from the first downward depression may cause the controller3002 to activate the motor 1102 to return the end effector 1300 to thearticulation home state position.

Further to the above, the interface 3001 may include a display which canbe used by the controller 3002 to communicate a warning message to theoperator in response to the first downward depression of the rocker3012. For example, in response to the first downward depression of therocker 3012, the controller 3002 may prompt the operator through thedisplay to confirm that the operator wishes to return the end effector1300 to the articulation home state position. If the operator respondsby depressing the rocker 3012 a second time within the predeterminedperiod of time, the controller 3012 may react by activating the motor1102 to return the end effector 1300 to the articulation home stateposition.

As described elsewhere in greater detail, the end effector 1300 of thesurgical instrument 1010 may include a first jaw comprising an anvilsuch as, for example, the anvil 1310 and a second jaw comprising achannel configured to receive a staple cartridge such as, for example,the staple cartridge 1304 which may include a plurality of staples. Inaddition, the end effector 1300 can be transitioned between an openconfiguration and a closed configuration. Furthermore, the surgicalinstrument 1010 may include a closure lock and the handle 1042 mayinclude a release member for the closure lock such as, for example, therelease member 1072 which can be depressed by the operator to releasethe closure lock thereby returning the end effector 1300 to the openconfiguration. In addition, the controller 3002 can be coupled to asensor 3014 configured to detect the release of the closure lock by therelease member 1272. Furthermore, the surgical instrument 1010 mayinclude a firing drive such as, for example, the firing drive 1110 whichcan be operably coupled to a firing member such as, for example, thefiring member 10060. The controller 3002 can be coupled to a sensor 3015configured to detect the position of the firing drive 1110. The firingdrive 1110 can be moved axially to advance the firing member 10060 froma firing home state position to a fired position to deploy the staplesfrom the staple cartridge 1304 and/or cut tissue captured between theanvil 1310 and the staple cartridge 1304 when the end effector 1300 isin the closed configuration.

Also, as described elsewhere in greater detail, the proximalarticulation drive 10030 of the surgical instrument 1010 can beselectively coupled with the firing drive 1110 such that, when thefiring drive 1110 is motivated by the motor 1102, the proximalarticulation drive 10030 can be driven by the firing drive 1110 and theproximal articulation drive 10030 can, in turn, articulate the endeffector 1300 relative to the shaft 1210, as described above.Furthermore, the firing drive 1110 can be decoupled from the proximalarticulation drive 10030 when the end effector 1300 is in the closedconfiguration. This arrangement permits the motor 1102 to motivate thefiring drive 1110 to move the firing member 10060 between the firinghome state position and the fired position independent of the proximalarticulation drive 10030.

Further to the above, as described else wherein in greater detail, thesurgical instrument 1010 can include a clutch system 10070 (See FIG. 37)which can be engaged when the end effector 1300 is transitioned from theopen configuration to the closed configuration and disengaged when theend effector 1300 is transitioned from the closed configuration to theopen configuration. When engaged, the clutch system 10070 may operablycouple the firing drive 1110 to the proximal drive member 10030 and whenthe clutch member is disengaged, the firing drive 1110 may be decoupledfrom the proximal articulation drive. Since the firing drive 1110 can bedecoupled and moved independently from the proximal articulation drive10030, the controller 3002 may be configured to guide the firing drive1110 to locate the proximal articulation drive 10030 and re-couple theproximal articulation drive 10030 to the firing drive 1110 once again.The controller 3002 may track the direction of rotation, speed ofrotation and the time of rotation of the motor 1102 when the firingdrive 1110 is coupled to the proximal articulation drive 10030 todetermine and store the location of the proximal articulation drive10030, for example, in memory 3010. The controller 3002 may, asdescribed elsewhere herein, monitor the displacement of the firingsystem used to drive the articulation system. Other parameters andalgorithms can be utilized to determine the location of the proximalarticulation drive 10030. In certain embodiments, the firing drive 1110may include a sensor configured to detect when the firing drive 1110 iscoupled to the proximal articulation drive 10030 and communicate thesame to the controller 3002 to confirm the coupling engagement betweenthe firing drive 1110 and the proximal articulation drive 10030. Incertain embodiments, when the controller 3002 is not configured to storeand access the articulation position of the end effector 1300, thecontroller may activate the motor 1102 to motivate the firing drive 1110to travel along its full range of motion until the firing drive 1110comes into coupling arrangement with the proximal articulation drive10030.

Further to the above, in certain embodiments, the firing home stateposition of the firing member 10060 can be located at a proximal portionof the end effector 1300. Alternatively, the firing home state positionof the firing member 10060 can be located at a distal portion of the endeffector 1300. In certain embodiments, the firing home state positionmay be defined at a position where the firing member 10060 issufficiently retracted relative to the end effector 1300 such that theend effector 1300 can be freely moved between the open configuration andthe closed configuration. In other circumstances, the firing home stateposition of the firing member 10060 can be identified as the position ofthe firing member which positions the articulation drive system and theend effector in its articulated home state position.

Referring again to FIG. 151, the interface 3001 of the surgicalinstrument 1010 may include a home state input. The operator may utilizethe home state input to transmit a home state input signal to thecontroller 3002 to return the surgical instrument 1010 to home statewhich may include returning the end effector 1300 to the articulationhome state position and/or the firing member 10060 to the firing homestate position. As illustrated in FIG. 154, the home state input mayinclude a switch such as, for example, the switch 3004C which can becoupled to the controller 3002 via an electrical circuit 3006C. Asillustrated in FIGS. 152 and 153, the home state input may include a capor a cover such as, for example, cover 3014 which can be depressed bythe operator to close the switch 3004C and transmit the home state inputsignal through the circuit 3006C to the controller 3002.

Referring again to FIG. 161, the controller 3002, upon receiving thehome state input signal, may check the position of the firing drive 1110through the sensor 3015 and may check the memory 3010 for the lastupdated articulation position. If the controller 3002 determines thatthe end effector 1300 is in the articulation home state position and thefiring drive 1110 is positioned such that it is coupled to the proximalarticulation drive 10030, the controller 3002 may take no action.Alternatively, the controller 3002 may provide feedback to the operatorthat the surgical instrument 1010 is at home state. For example, thecontroller 3002 can be configured to activate a sound and/or a lightsignal or transmit a message through the display to alert the operatorthat the surgical instrument 1010 is at home state. However, if thecontroller 3002 determines that the end effector 1300 is not in thearticulation home state position and the firing drive 1110 is positionedsuch that it is coupled to the proximal articulation drive 10030, thecontroller 3002 may activate the motor 1102 to motivate the firing drive1110 to move the proximal articulation drive 10030 which can, in turn,articulate the end effector 1300 relative to the shaft 1210 back to thearticulation home state position. Alternatively, if the controller 3002determines that the end effector 1300 is in the articulation home stateposition but the firing drive 1110 is not positioned such that it iscoupled to the proximal articulation drive 10030, the controller 3002may activate the motor 1102 to move the firing drive 1110 to a positionwherein the firing drive 1110 is coupled to the articulation drive10030. In doing so, the motor 1102 may retract the firing member 10060to the firing home state position.

In certain embodiments, referring to FIG. 162, the controller 3002, uponreceiving the home state input signal, may check whether the endeffector 1300 is in the open configuration through the sensor 3016.Other means for determining whether the end effector 1300 is in the openconfiguration can be employed. If the controller 3002 determines thatthe end effector 1300 is in the open configuration, the controller 3002may proceed as described above. However, if the controller 3002, uponreceiving the home state input signal, determines that the end effector1300 is in the closed configuration, the controller 3002 may prompt theoperator to confirm that the operator wishes to return the surgicalinstrument 1010 to home state. This step can be a precautionary step toprevent the operator from accidentally opening the end effector 1300during a surgical procedure, for example. In certain embodiments, thecontroller 3002 may prompt the operator by displaying a message on adisplay coupled to the controller 3002, for example, requesting theoperator to return the end effector 1300 to the open configuration bydepressing the release member 1072. If the operator does not release theend effector 1300 to the open configuration, the controller 3002 maytake no action. In other embodiments, the controller 3002 may alert theoperator by displaying an error message or activating a sound or alight. However, if the operator releases the end effector 1300 to theopen configuration, the controller 3002 may reset the surgicalinstrument as described above.

Referring to FIG. 163, the firing member 10060 may comprise a separatefiring reset input which may include a switch and an electrical circuitcoupling the switch to controller 3002, wherein the switch can beconfigured to close the circuit and transmit a firing reset input signalto the controller 3002. The controller 3002, upon receiving the firingreset input signal may check whether the firing member 10060 is in thefiring home state position. As described elsewhere in greater detail,the firing member 10060 may be operably coupled to the firing drive 1110which may comprise a sensor such as, for example, sensor 3015 (See FIG.151) that may transmit the location of the firing drive 1110 to thecontroller 3002. Accordingly, the controller 3002 can determine thelocation of the firing member 10060 by monitoring the location of thefiring drive 1110. In any event, if the controller 3002 determines thatthe firing member 10060 is in the firing home state position, thecontroller may take no action or may alert the operator that the firingmember 10060 is already in the firing home state position by activatinga sound and/or a light. On the hand, if the controller 3002 determinesthat the firing member 10060 is not in the firing home state position,the controller 3002 may activate the motor 1102 to motivate the firingdrive 1110 to return the firing member 10060 to the firing home stateposition.

As described elsewhere in greater detail, the surgical instrument 1010may include several assemblies that extend, at least partially, throughthe shaft 1210 and may be in operable engagement with the end effector1300. For example, the surgical instrument 1010 may include a closureassembly that may transition the end effector 1300 between an openconfiguration and a closed configuration, an articulation assembly thatmay articulate the end effector 1300 relative to the shaft 1210, and/ora firing assembly that may fasten and/or cut tissue captured by the endeffector 1300. In addition, the surgical instrument 1010 may include ahousing such as, for example, the handle 1042 which may be separablycouplable to the shaft 1210 and may include complimenting closure,articulation, and/or firing drive systems that can be operably coupledto the closure, articulation, and/or firing assemblies, respectively, ofthe shaft 1210 when the handle 1042 is coupled to the shaft 1210.

In use, the assemblies described above and their corresponding drivesystems may be operably connected. Attempting to separate the handle1042 from the shaft 1210 during operation of the surgical instrument1010 may sever the connections between the assemblies and theircorresponding drive systems in a manner that may cause one or more ofthese assemblies and their corresponding drive systems to be out ofalignment. On the other hand, preventing the user from separating thehandle 1042 from the shaft 1210 during operation, without more, may leadto confusion, frustration, and/or an erroneous assumption that thesurgical instrument is not operating properly.

The surgical instrument 1010 may include a safe release system 3080 thatmay be configured to return one or more of the assemblies and/orcorresponding drive systems of the surgical instrument 1010 to a homestate thereby allowing the operator to safely separate the handle 1042from the shaft 1210. The term home state as used herein may refer to adefault state wherein one or more of the assemblies and/or correspondingdrive systems of the surgical instrument 1010 may reside or may bereturned to their default position such as, for example, their positionprior to coupling the handle 1042 with the shaft 1210.

Referring to FIG. 150, the safe release system 3080 of the surgicalinstrument 1010 may include a locking member such as, for example,locking member 3082 which can be moved between a locked configurationand an unlocked configuration. As illustrated in FIG. 164 and asdescribed elsewhere in greater detail, the shaft 1210 may be aligned andcoupled with the handle 1042 of the surgical instrument 1010. Inaddition, the locking member 3082 may be moved from the unlockedconfiguration to the locked configuration to lock the handle in couplingengagement with the shaft 1210. The locking member 3082 can bepositioned at a proximal portion of the shaft 1210, as illustrated inFIG. 166 and may include a latch member 3083 that can be advanced into areceiving slot 3085 positioned in the handle 1042 when the lockingmember 3082 is moved to the locked configuration and the handle 1042 iscoupled to the shaft 1210. In addition, the latch member 3083 can beretracted out of the receiving slot 3085 when the locking member 3082 ismoved to the unlocked configuration thereby allowing the handle 1042 tobe separated from the shaft 1210, as illustrated in FIG. 167.

Referring to FIG. 151, the safe release system 3080 may further includean interlock switch 3084 which can be coupled to the controller 3002 viaan electric circuit 3086 which can be configured to transmit a homestate input signal to the controller 3002. In addition, the interlockswitch 3084 may be operably coupled to the locking member 3082. Forexample, the switch 3086 can be moved to close the circuit 3086 when thelocking member is moved to the unlocked configuration, as illustrated inFIG. 167 and can be moved to open the circuit 3086 when the lockingmember 3082 is moved to the locked configuration, as illustrated in FIG.166. In this example, the controller 3002 can be configured to recognizethe closing of the circuit 3086 as a transmission of the home stateinput signal. Alternatively, in another example, the switch 3086 can bemoved to open the circuit 3086 when the locking member is moved to theunlocked configuration and can be moved to close the circuit 3086 whenthe locking member 3082 is moved to the locked configuration. In thisexample, the controller 3002 can be configured to recognize the openingof the circuit 3086 as a transmission of the home state input signal.

Referring again to FIG. 166 and FIG. 167, the locking member 3082 mayinclude a first surface 3090 and a second surface 3092 which can beseparated by a ramp 3094, wherein the locking member 3082 can bepositioned relative to the switch 3084 such that the first surface 3090and the second 3092 may be slidably movable relative to the switch 3084when the handle 1042 is coupled to the shaft 1210. Furthermore, asillustrated in FIG. 166, the first surface 3090 may extend in a firstplane and the second surface 3092 may extend in a second plane, whereinthe switch 3084 can be closer to the first plane that the second plane.Furthermore, as illustrated in FIG. 166, the switch 3084 may bedepressed by the first surface 3090 when the locking member 3082 is inthe locked configuration and the latch member 3083 is received withinthe receiving slot 3085, thereby closing the circuit 3086 (FIG. 151) andtransmitting the home state input signal to the controller 3002.However, as the locking member 3082 is moved to the unlockedconfiguration and the latch member 3083 is retracted from the receivingslot 3085, the switch 3084 may slide along the ramp 3094 to face thesecond surface 3092 which may provide the biased switch 3084 withsufficient room to return to the open position, as illustrated in FIG.166.

In certain embodiments, as illustrated in FIGS. 151 and 165, a first end3084 a of the switch 3084 can be positioned in the handle 1042, forexample, at a distal portion thereof and a second end 3084 b of theswitch 3084 can be positioned in the shaft 1210, for example, at aproximal portion thereof and can be operably coupled with the lockingmember 3082. In these embodiments, the switch 3084 may not close thecircuit 3086 until the handle 1042 is coupled to the shaft 1210 topermit the locking member 3082 to bring the second end 3084 b of theswitch 3084 into contact with the first end 3084 a thereby closing thecircuit 3086 and transmitting the home state input signal to thecontroller 3002. In other embodiments, the locking member 3082, thefirst end 3084 a, and the second end 3084 b of the switch 3084 can beplaced in the handle 1042 to permit closure of the circuit 3086 andtransmission of the home state input signal to the controller 3002 priorto coupling the handle 1042, for example, to return the firing drivesystem to its default position to ensure proper alignment with thefiring assembly when the shaft 1210 is coupled to the handle 1042.

As described elsewhere in greater detail, the end effector 1300 of thesurgical instrument 1010 may include a first jaw comprising an anvilsuch as, for example, the anvil 1310 and a second jaw comprising achannel configured to receive a staple cartridge such as, for example,the staple cartridge 1304 which may include a plurality of staples. Inaddition, the end effector 1300 can be transitioned between an openconfiguration and a closed configuration. For example, the surgicalinstrument 1010 may include a closure lock for locking the end effector1300 in a closed configuration and the handle 1042 may include a releasemember for the closure lock such as, for example, the release member1072 which can be depressed by the operator to release the closure lockthereby returning the end effector 1300 to the open configuration. Inaddition, the controller 3002 can be coupled to a sensor 3014 configuredto detect the release of the closure lock by the release member 1072.Furthermore, the surgical instrument 1010 may include a firing drivesuch as, for example, the firing drive 1110 which can be operablycoupled to a firing member such as, for example, the firing member10060. The controller 3002 can be coupled to a sensor 3015 configured todetect the position of the firing drive 1110. In addition, the firingdrive 1110 can be advanced axially, as illustrated in FIG. 167A, toadvance the firing member 10060 between an unfired position and a firedposition to deploy the staples of the staple cartridge 1304 and/or cuttissue captured between the anvil 1310 and the staple cartridge 1304when the end effector 1300 is in the closed configuration. Furthermore,the firing drive can be retracted by the motor 1102 from the advancedposition, for example, the position illustrated in FIG. 167A to adefault or retracted position as illustrated in FIG. 167B when thelocking member 3082 is moved from the closed configuration to the openconfiguration.

Further to the above, as described elsewhere in greater detail, theproximal articulation drive 10030 of the surgical instrument 1010 can beselectively coupled with the firing drive 1110 such that, when thefiring drive 1110 is motivated by the motor 5, the proximal articulationdrive 10030 can be driven by the firing drive 1110 and the proximalarticulation drive 10030 can, in turn, articulate the end effector 1300relative to the shaft 1210 between the articulation home state positionand the articulate position, as described above. Furthermore, the firingdrive 1110 can be decoupled from the proximal articulation drive 10030,for example, when the end effector 1300 is in the closed configuration.This arrangement permits the motor 1102 to motivate the firing drive1110 to move the firing member 10060 between the unfired position andthe fired position independent of the proximal articulation drive 10030.Since the firing drive 1110 can be decoupled from and movedindependently from the proximal articulation drive 10030, the controller3002 may be configured to guide the firing drive 1110 to locate andreconnect with the proximal articulation drive 10030. In a way, thecontroller 3002 can remember where it left the proximal articulationdrive 10030. More particularly, the controller 3002 can, one, evaluatethe position of the firing drive 1110 when the proximal articulationdrive 10030 is decoupled from the firing drive 1110 and, two, rememberwhere the proximal articulation drive 10030 is when the controller 3002is instructed to reconnect the firing drive 1110 with the proximalarticulation drive 10030. In such circumstances, the controller 3002 canmove the firing drive 1110 into a position in which the clutch assembly10070, for example, can reconnect the proximal articulation drive 10030to the firing drive 1110. The controller 3002 may track the direction ofrotation, speed of rotation and the time of rotation of the motor 1102when the firing drive 1110 is coupled to the proximal articulation drive10030 to determine and store the location of the proximal articulationdrive 10030, for example, in the memory 3010. Other parameters andalgorithms can be utilized to determine the location of the proximalarticulation drive 10030. In certain embodiments, the firing drive 1110may include a sensor configured to detect when the firing drive 1110 iscoupled to the proximal articulation drive 10030 and communicate thesame to the controller 3002 to confirm the coupling engagement betweenthe firing drive 1110 and the proximal articulation drive 10030. Incertain embodiments, when the controller 3002 is not configured to storeand access the proximal articulation drive 10030, the controller mayactivate the motor 1102 to motivate the firing drive 1110 to travelalong its full range of motion until the firing drive 1110 comes intocoupling arrangement with the proximal articulation drive 10030.

Referring now to FIGS. 151 and 165, the safe release system 3080 mayreact to an operator's attempt to separate the handle 1042 from theshaft 1210 by resetting the surgical instrument 1010 to the home state,for example, as soon as the operator moves the locking member 3082 fromthe locked configuration to the unlocked configuration. As describedabove, the switch 3084 can be operably coupled to the locking member3082 such that when the locking member 3082 is moved from the lockedconfiguration to the unlocked configuration, the switch 3084 may bemoved to open the circuit 3086 thereby transmitting the home state inputsignal to the controller 3002. Alternatively, movement of the switch3084 from its locked configuration to its unlocked configuration mayallow the circuit 3086 to close thereby transmitting the home stateinput signal to the controller 3002.

Referring again to FIG. 168, the controller 3002, upon receiving thehome state input signal, may check the position of the firing drive 1110through the sensor 3015 and may check the memory 3010 for the lastupdated articulation position of the end effector and, correspondingly,the last position of the proximal articulation drive 10030. If thecontroller 3002 determines that the end effector 1300 is in thearticulation home state position and the firing drive 1110 is positionedsuch that it is coupled to the proximal articulation drive 10030, thecontroller 3002 may take no action and the user may remove the shaftassembly from the handle. Alternatively, the controller 3002 may providefeedback to the operator that the surgical instrument 1010 is at homestate and/or it is safe to separate the handle 1042 from the shaft 1210.For example, the controller 3002 can be configured to activate a soundand/or a light signal and/or transmit a message through a display (notshown) coupled to the controller 3002 to alert the operator that thesurgical instrument 1010 is at home state and/or it is safe to separatethe handle 1042 from the shaft 1210. However, if the controller 3002determines that the end effector 1300 is not in the articulation homestate position and the firing drive 1110 is positioned such that it iscoupled to the proximal articulation drive 10030, the controller 3002may activate the motor 1102 to motivate the firing drive 1110 to movethe proximal articulation drive 10030 which can, in turn, articulate theend effector 1300 relative to the shaft 1210 back to the articulationhome state position. Alternatively, if the controller 3002 determinesthat the end effector 1300 is in the articulation home state positionbut the firing drive 1110 is not positioned such that it is coupled tothe proximal articulation drive 10030, the controller 3002 may activatethe motor 1102 to move the firing drive 1110 to a position wherein thefiring drive 1110 is couplable to the articulation drive 9. In doing so,the firing member 9 may retract the firing member 10060 to the firinghome state position. As described above, the controller 3002 mayoptionally provide the feedback to the operator that the surgicalinstrument 1010 is at home state and that it is safe to separate thehandle 1042 from the shaft 1210.

In certain embodiments, referring to FIG. 169, the controller 3002, uponreceiving the home state input signal, may check whether the endeffector 1300 is in the open configuration through the sensor 3016.Other means for determining that the end effector 1300 is in the openconfiguration can be employed. If the controller 3002 determines thatthe end effector 1300 is in the open configuration, the controller 3002may proceed to reset the surgical instrument 1010 to home state, asdescribed above. However, if the controller 3002, upon receiving thehome state input signal, determines that the end effector 1300 is in theclosed configuration, the controller 3002 may prompt the operator toconfirm that the operator wishes to separate the handle 1042 from theshaft 1210. This step can be a precautionary step to prevent resettingthe surgical instrument 1010 if the operator accidentally moved thelocking member 3082 thereby erroneously transmitting a home state inputsignal to the controller 3002 while the end effector 1300 is in use andclamping tissue, for example. In certain embodiments, the controller3002 may prompt the operator by displaying a message on the displaycoupled to the controller 3002, for example, requesting the operator toreturn the end effector 1300 to the open configuration by depressing therelease member 1072. In addition to the mechanical locking member 3082,the safe release system 3080 may also include an electronic lock (notshown) which may be controlled by the controller 3002. The electroniclock can be configured to prevent the operator from separating thehandle 1042 and the shaft 1210 until the operator depresses the releasemember 1072. If the operator does not release the end effector 1300 tothe open configuration, the controller 3002 may take no action. In otherembodiments, the controller 3002 may alert the operator by displaying anerror message or activating a sound and/or a light signal. On the otherhand, if the operator releases the end effector 1300 to the openconfiguration, the controller 3002 may reset the surgical instrument1010 as described above. If an electronic lock is used, the controller3002 may then release the electronic lock to permit the operator toseparate the handle 1042 from the shaft 1210. In addition, thecontroller 3002 may then alert the operator that it is now safe toremove the handle 1042 from the shaft 1210, as described above.

In certain embodiments, it may be desirable to include a warning stepprior to resetting the surgical instrument 1010 to home state inresponse to the home state input signal to provide an operator with achance to remedy an accidental unlocking of the locking member 3082. Forexample, the controller 3002 can be configured to react to a firsttransmission of the home state input signal by asking the operator toconfirm that the operator wishes to reset the surgical instrument 1010,for example, through the display. In certain embodiments, the operatormay transmit a second home state input signal to the controller 3002within a predetermined time period from the first home state inputsignal by locking and unlocking the locking member 3082 a second time.The controller 3002 can be configured to react to the secondtransmission of the home state input signal if transmitted within thepredetermined time period from the first transmission by resetting thesurgical instrument 1010 to the home state, as described above.

An electric motor for a surgical instrument described herein can performmultiple functions. For example, a multi-function electric motor canadvance and retract a firing element during a firing sequence. Toperform multiple functions, the multi-function electric motor can switchbetween different operating states. The electric motor can perform afirst function in a first operating state, for example, and cansubsequently switch to a second operating state to perform a secondfunction, for example. In various circumstances, the electric motor candrive the firing element distally during the first operating state,e.g., an advancing state, and can retract the firing element proximallyduring the second operating state, e.g., a retracting state. In certaincircumstances, the electric motor can rotate in a first direction duringthe first operating state and can rotate in second direction during thesecond operating state. For example, clockwise rotation of the electricmotor can advance the firing element distally and counterclockwiserotation of the electric motor can retract the firing elementproximally. The electric motor can be balanced or substantially balancedduring the first and second operating states such that background hapticfeedback or “noise” generated by the electric motor is minimized. Thoughthe haptic feedback can be minimized during the first and secondoperating states, it may not be entirely eliminated in certaincircumstances. In fact, such “noise” may be expected by the operatorduring normal operation of the surgical instrument and, as such, may notconstitute a feedback signal indicative of a particular condition of thesurgical instrument.

In various circumstances, the multi-function electric motor can performadditional functions during additional operating states. For example,during a third operating state, e.g., a feedback state, the electricmotor can generate amplified haptic or tactile feedback in order tocommunicate a particular condition of the surgical instrument to theoperator thereof. In other words, a multi-function electric motor candrive a firing element distally and proximally during a firing sequence,e.g., the first operating state and the second operating state,respectively, and can also generate the amplified haptic feedback tocommunicate with the operator of the surgical instrument, e.g., duringthe third operating state. The amplified haptic feedback generatedduring the third operating state can substantially exceed the backgroundhaptic feedback or “noise” generated during the first and secondoperating states. In various embodiments, the amplified haptic feedbackgenerated during the third operating state can constitute a feedbacksignal to the operator that is indicative of a particular condition ofthe surgical instrument. For example, the electric motor can generatethe amplified haptic feedback when a predetermined threshold force isdetected on the firing element. In such embodiments, the amplifiedhaptic feedback can constitute a warning signal to the operator such as,for example, a potential overload warning. In other embodiments, theamplified haptic feedback can communicate a status update to theoperator such as, for example, a signal that the firing element hasreached a distal-most position and/or successfully completed a firingstroke. In various embodiments, the electric motor can oscillate betweenclockwise rotation and counterclockwise rotation during the thirdoperating state. As described herein, a resonator or amplifier mountedto the electric motor can oscillate with the electric motor to optimizeor amplify the haptic feedback generated by the electric motor. Thoughthe resonator can amplify haptic feedback during the third operatingstate, the resonator can be balanced relative to its axis of rotation,for example, such that the background haptic feedback or “noise” remainsminimized during the first and second operating states.

In various circumstances, the multi-function electric motor can switchbetween different operating states. For example, the electric motor canswitch from the first operating state to the second operating state inorder to retract the firing element from a distal position in an endeffector. Furthermore, the electric motor can switch to the thirdoperating state to communicate a signal indicative of a particularcondition of the surgical instrument to the operator. For example, whena clinically-important condition is detected, the electric motor canswitch from the first operating state to the third operating state inorder to communicate the clinically-important condition to the operator.In certain embodiments, the electric motor can generate amplified hapticfeedback to communicate the clinically-important condition to theoperator. When the electric motor switches to the third operating state,the advancement of the firing element can be paused. In variousembodiments, upon receiving the amplified haptic feedback, the operatorcan decide whether (A) to resume the first operating state, or (B) toinitiate the second operating state. For example, where theclinically-important condition is a high force on the firing element,which may be indicative of potential instrument overload, the operatorcan decide (A) to resume advancing the firing element distally, or (B)to heed the potential overload warning and retract the firing elementproximally. If the operator decides to resume the first operating statedespite the potential for instrument overload, the instrument may be atrisk of failure. In various embodiments, a different electric motor cangenerate feedback to communicate the clinically-important condition tothe operator. For example, a second electric motor can generate sensoryfeedback such as a noise, a light, and/or a tactile signal, for example,to communicate the clinically-important condition to the operator.

Referring now to FIG. 170, an electric motor 5002 for a surgicalinstrument (illustrated elsewhere) can comprise a motor housing 5004 anda shaft 5006 extending from the motor housing 5004. While electric motor5002 is described herein as one example, other electric motors, such asmotor 1102, for example, can incorporate the teachings disclosed herein.The shaft 5006 can be fixed to a rotor (not illustrated) positionedwithin the motor housing 5004, and the shaft 5006 can rotate as therotor rotates. The shaft 5006 can rotate in one direction during a firstoperating state, for example, and can rotate in a second directionduring the second operating state, for example. Furthermore, therotation of the electric motor 5002 in one direction can implement afirst surgical function, and the rotation of the electric motor 5002 inanother direction can implement a second surgical function. In variousembodiments, the electric motor 5002 and/or the shaft 5006 thereof canbe operably coupled to a firing element (illustrated elsewhere), and candrive the firing element during a firing sequence. For example,clockwise rotation of the electric motor 5002 can drive the firingelement distally, and counterclockwise rotation of the electric motor5002 can drive the firing element proximally. Alternatively,counterclockwise rotation of the electric motor 5002 can drive thefiring element distally, and clockwise rotation of the electric motor5002 can drive the firing element proximally. In other words, theelectric motor can advance the firing element during the first operatingstate and can retract the firing element during the second operatingstate, or vice versa. In other embodiments, the electric motor 5002 canbe operably coupled to an articulation mechanism (illustratedelsewhere), and can articulate an end effector relative to a handle ofthe surgical instrument. For example, clockwise rotation of the electricmotor 5002 can articulate the end effector in a first direction, andcounterclockwise rotation of the electric motor 5002 can articulate theend effector in a second direction.

In various embodiments, a resonator or amplifier 5020 can be mounted onthe shaft 5006 of the electric motor 5002. A washer 5008 can secure theresonator 5020 relative to the shaft 5006, for example. Furthermore, theresonator 5020 can be fixedly secured to the shaft 5006 such that theresonator 5020 rotates and/or moves with the shaft 5006. In variousembodiments, the resonator 5020 and/or various portions thereof can befastened to the shaft 5006 and/or can be integrally formed therewith,for example.

Referring now to FIGS. 170-172, the resonator 5020 can comprise a body5022 comprising a mounting bore 5040 (FIGS. 171 and 172) for receivingthe shaft 5006 (FIG. 170). For example, the shaft 5006 can extendthrough the mounting bore 5040 when the resonator 5020 is secured to theshaft 5006. The mounting bore 5040 and the shaft 5006 can be coaxial,for example. In various embodiments, the body 5022 of the resonator 5020can be balanced and/or symmetrical relative to the mounting bore 5040,and the center of mass of the body 5022 can be positioned along thecentral axis of the mounting bore 5040, for example. In suchembodiments, the center of mass of the body 5022 can be positioned alongthe axis of rotation of the shaft 5006, and the body 5022 can bebalanced relative to the shaft 5006, for example.

In various circumstances, the resonator 5020 can further comprise apendulum 5030 extending from the body 5022. For example, the pendulum5030 can comprise a spring or bar 5032 extending from the body 5022 anda weight 5034 extending from the spring 5032. In certain circumstances,the resonator 5020 and/or the pendulum 5030 thereof can be designed tohave an optimized natural frequency. As described herein, an optimizednatural frequency can amplify the haptic feedback generated when theelectric motor 5002 oscillates between clockwise and counterclockwiserotations, e.g., during the third operating state. In variouscircumstances, the resonator 5020 can further comprise a counterweight5024 extending from the body 5022. Referring primarily to FIG. 172, thependulum 5030 can extend from the body 5022 in a first direction X, andthe counterweight 5024 can extend from the body 5022 in a seconddirection Y. The second direction Y can be different than and/oropposite to the first direction X, for example. In various embodiments,the counterweight 5024 can be designed to balance the mass of thependulum 5030 relative to the mounting bore 5040 (FIGS. 171 and 172)through the body 5022. For example, the geometry and material of thecounterweight 5024 can be selected such that the center of mass 5028(FIG. 172) of the entire resonator 5020 is positioned along the centralaxis of the mounting bore 5040 of the body 5022, and thus, along theaxis of rotation of the resonator 5020 and the shaft 5006 (FIG. 170).

The center of mass 5028 of the resonator 5020 (CM_(R)) can be determinedfrom the following relationship:

${{CM}_{R} = {\frac{1}{m_{R}}\left( {{{CM}_{B} \cdot m_{B}} + {{CM}_{C} \cdot m_{C}} + {{CM}_{S} \cdot m_{S}} + {{CM}_{W} \cdot m_{W}}} \right)}},$

where m_(R) is the total mass of the resonator 5020, CM_(B) is thecenter of mass of the body 5022, CM_(C) is the center of mass of thecounterweight 5024, CM_(S) is the center of mass of the spring 5032,CM_(W) is the center of mass of the weight 5034, m_(B) is the mass ofthe body 5022, m_(C) is the mass of the counterweight 5024, m_(S) is themass of the spring 5032, and m_(W) is the mass of the weight 5034. Wherethe center of mass of the body 5022 is positioned along the central axisof the mounting bore 5040 and the resonator 5020 comprises a uniformthickness and uniform density, the resonator 5020 can be balancedrelative to the central axis of the mounting bore 5040 according to thefollowing simplified relationship:

A _(C) ·CM _(C) =A _(S) ·CM _(S) +A _(W) ·CM _(W),

wherein A_(C) is the area of the counterweight 5024, A_(S) is the areaof the spring 5032, and A_(W) is the area of the weight 5034.

In various circumstances, when the center of mass 5028 of the resonator5020 is centered along the central axis of the mounting hole 5040, andthus, along the axis of rotation of the shaft 5006 (FIG. 170), theresonator 5020 can be balanced relative to its axis of rotation thereof.In such embodiments, because the resonator 5020 is balanced, thebackground haptic feedback can be minimized during the first and secondoperating states. In various circumstances, the resonator 5020 caninclude additional or fewer components. The various components of theresonator 5020 can be balanced such that the center of mass 5028 of theentire resonator 5020 is balanced relative to the axis of rotation ofthe resonator 5020. Additionally, in some embodiments, the materialand/or density of various components of the resonator 5020 can differfrom various other components of the resonator 5020. The material and/ordensity of the various components can be selected to balance the mass ofthe resonator 5020 relative to the axis of rotation and/or to optimizethe natural frequency of the resonator 5020 and/or the pendulum 5030thereof, as described herein.

Referring still to FIGS. 170-172, the spring 5032 of the pendulum 5030can be deflectable and/or deformable. For example, rotation of theresonator 5020 can cause the spring 5032 of the pendulum 5030 todeflect. The spring 5032 can deflect upon initial rotation of theresonator 5020, and can remain deflected as the resonator 5020 continuesto rotate in the same direction and at the same rotational speed.Because the deflection of the spring 5032 remains at least substantiallyconstant during continued substantially constant rotation of theresonator 5020 in one direction, the background haptic feedback canremain minimized during the first and second operating states. When therotational direction of the resonator 5020 changes, the spring 5032 candeflect in a different direction. For example, the spring 5032 candeflect in a first direction when the resonator 5020 rotates clockwiseand can deflect in a second direction when the resonator 5020 rotatescounterclockwise. The second direction can be opposite to the firstdirection, for example. In other words, as the electric motor 5020oscillates between clockwise rotation and counterclockwise rotation, thespring 5032 can repeatedly deflect in different directions in responseto the changes in the direction of rotation. Repeated deflections of thespring 5032 in opposite directions, i.e., deflective oscillations, cangenerate the amplified haptic feedback. For example, the haptic feedbackgenerated by the oscillating resonator 5020, which is driven by theoscillating motor 5002 (FIG. 170), can be sufficiently amplified suchthat it provides a signal to the operator indicative of a particularcondition of the surgical instrument. The amplified haptic feedbackgenerated by the oscillating resonator 5020 and motor 5002 can besubstantially greater than the background haptic feedback generatedduring the sustained rotation of the resonator 5020 and motor 5002 inthe same direction.

In use, the rotation of the pendulum 5030 can generate a centrifugalforce on the weight 5034, and the spring 5032 of the pendulum 5030 canelongate in response to the centrifugal force. In various embodiments,the resonator 5020 and/or the motor 5002 can comprise a retainer forlimiting radial elongation of the spring 5032. Such a retainer canretain the pendulum 5030 within a predefined radial boundary 5050 (FIG.170). In various circumstances, the centrifugal force exerted on theweight 5034 during the third operating state may be insufficient toelongate the pendulum 5030 beyond the redefined radial boundary 5050.

In various circumstances, the resonator 5020 can be designed to amplifythe haptic feedback generated by the electric motor 5002 (FIG. 170)during the third operating state. In other words, the resonator 5020 canbe designed such that the natural frequency of the resonator 5020 isoptimized, and the electric motor 5002 can oscillate at a frequency thatdrives the resonator 5020 to oscillate at its optimized naturalfrequency. In various embodiments, the optimized natural frequency ofthe resonator 5020 can be related to the frequency of oscillations ofthe electric motor 5002. The optimized natural frequency of theresonator 5020 can coincide with and/or correspond to the oscillationfrequency of the electric motor 5002, for example. In certainembodiments, the optimized natural frequency of the resonator 5020 canbe offset from the oscillation frequency of the electric motor 5002, forexample.

In certain embodiments, the natural frequency of the resonator 5020 canbe approximated by the natural frequency of the pendulum 5030. Forexample, substantially non-oscillating components can be ignored in thenatural frequency approximation. In certain embodiments, the body 5022and the counterweight 5024 can be assumed to be substantiallynon-oscillating components of the resonator 5020, and thus, assumed tohave a negligible or inconsequential effect on the natural frequency ofthe resonator 5020. Accordingly, the oscillating component of theresonator 5020, e.g., the pendulum 5030, can be designed to amplify thehaptic feedback generated by the electric motor 5002 (FIG. 170) duringthe third operating state. Where the mass of the spring 5032 issubstantially less than the mass of the weight 5034, the naturalfrequency of the pendulum 5030 (f_(P)) can be approximated by thefollowing relationship:

${f_{P} \cong {\frac{1}{2\pi}\sqrt{\frac{k_{S}}{m_{W}}}}},$

wherein k_(S) is the spring constant of the spring 5032 and m_(W) is themass of the weight 5034. The spring constant of the spring 5032 (k_(S))can be determined from the following relationship:

${k_{S} = \frac{3E_{S}I_{S}}{L_{S}^{3}}},$

where E_(S) is the modulus of elasticity of the spring 5032, I_(S) isthe second moment of inertia of the spring 5032, and L_(S) is the lengthof the spring 5032. In various embodiments, the spring constant (k_(S))of the spring 5032 and/or the mass of the weight 5034 (m_(W)) can beselected such that the natural frequency of the pendulum 5030 (f_(P))relates to the oscillation frequency of the electric motor 5002 duringthe third operating state. For example, the natural frequency of thependulum 5030 can be optimized by varying the spring constant of thespring 5032 and/or the mass of the weight 5034.

Referring still to FIGS. 170-172, the natural frequency of the resonator5020 and/or the pendulum 5030 thereof can be optimized to a frequencythat provides the optimal haptic feedback to the operator. For example,the natural frequency of the resonator 5020 can be optimized to betweenapproximately 50 Hz and approximately 300 Hz in order to enhance thefeedback experienced by the operator. In some embodiments, the naturalfrequency of the resonator 5020 can be optimized to a frequency lessthan approximately 50 Hz, for example, and, in other embodiments, theresonator 5020 can be optimized for a frequency greater thanapproximately 300 Hz, for example. Furthermore, the electric motor 5002(FIG. 170) can oscillate at a frequency that drives the resonator 5020to oscillate at or near the natural frequency thereof. In certainembodiments, the electric motor 5002 can drive the resonator 5020 tooscillate within a range of amplifying frequencies inclusive of thenatural frequency of the resonator 5020.

In various embodiments, the oscillation frequency of the electric motor5002 can coincide with and/or correspond to the natural frequency of theresonator 5020 in order to drive the resonator 5020 at or near itsnatural frequency. In certain embodiments, the oscillation frequency ofthe electric motor 5002 can be near or at the natural frequency of theresonator 5020 and, in other embodiments, the oscillation frequency ofthe electric motor 5002 can be offset from the natural frequency of theresonator 5020. In various embodiments, the oscillation frequency of theelectric motor 5002 can be optimized to coincide with the naturalfrequency of the resonator 5020. Furthermore, in certain embodiments,the oscillation frequency of the electric motor 5002 and the naturalfrequency of the resonator 5020 can be cooperatively selected, designedand/or optimized to amplify the haptic feedback generated by theelectric motor 5002 during the third operating state.

Referring primarily to FIG. 170, the electric motor 5002 can generatethe amplified haptic feedback when the electric motor 5002 oscillatesbetween the clockwise direction and the counterclockwise directionduring the third operating state. Additionally, the rotation of theelectric motor 5002 during the first and second operating states candrive the firing member (illustrated elsewhere) during a firing stroke.For example, clockwise rotation of the electric motor 5002 can advancethe firing element distally and counterclockwise rotation of theelectric motor 5002 can retract the firing element proximally.Accordingly, when the electric motor 5002 oscillates between theclockwise direction and the counterclockwise direction, the distal endof the firing element may move between a slightly more distal positionand a slightly more proximal position. However, the electric motor 5002can be significantly geared down such that oscillations of the electricmotor 5002 during the third operating state move the distal end of thefiring element an insignificant and/or imperceptible distance. Invarious embodiments, the gear ratio can be approximately 200:1 toapproximately 800:1, for example. In certain embodiments, the firingelement can remain stationary during the third operating state. Forexample, slack between the motor 5002 and distal end of the firingelement can absorb the oscillations of the electric motor 5002. Forinstance, referring to FIGS. 102-104, such slack is present between thefiring member 10060 and the knife bar 10066. In various circumstances,the knife bar 10066 can comprise a drive tab 10065 which extends into adrive slot 10064 defined in the firing member 10060 wherein the lengthof the drive slot 10064 between a distal end 10067 and a proximal end10069 thereof can be longer than the drive tab 10065. In use, sufficienttravel of the firing member 10060 must occur before the distal end 10067or the proximal end 10069 come into contact with the drive tab 10065.

Referring now to FIGS. 173-176, the electric motor 5002 (FIGS. 173 and174) can be positioned within a handle 5101 (FIG. 173) of a surgicalinstrument 5100 (FIG. 173). In various embodiments, a resonator oramplifier 5120 can be mounted on the shaft 5006 of the electric motor5002. The shaft 5006 can be fixed to the rotor (not illustrated)positioned within the motor housing 5004, and the shaft 5006 can rotateas the rotor rotates. The washer 5008 can secure the resonator 5120relative to the shaft 5006, for example. Furthermore, the resonator 5120can be secured to the shaft 5006 such that the resonator 5120 rotatesand/or moves with the shaft 5006. In some circumstances, a key can beutilized to transmit the rotational movement of the shaft 5006 to theresonator 5120, for example. In various circumstances, the resonator5120 and/or various portions thereof can be fastened to the shaft 5006and/or can be integrally formed therewith, for example.

Referring primarily to FIGS. 175 and 176, similar to the resonator 5020,the resonator 5120 can comprise a body 5122 comprising a mounting bore5140 for receiving the shaft 5006 (FIGS. 173 and 174) of the electricmotor 5002 (FIGS. 173 and 174). For example, the shaft 5006 can extendthrough the mounting bore 5140 when the resonator 5120 is secured to theshaft 5006. In various embodiments, the body 5122 of the resonator 5120can be balanced and symmetrical relative to the mounting bore 5140, andthe center of mass of the body 5122 can be positioned along the centralaxis of the mounting bore 5140, for example. Further, the center of massof the body 5122 can be positioned along the axis of rotation of theresonator 5120 and the shaft 5006 such that the body 5122 is balancedrelative to the shaft 5006, for example.

In various embodiments, the resonator 5120 can further comprise apendulum 5130 extending from the body 5122. For example, the pendulum5130 can comprise a spring or bar 5132 extending from the body 5122 anda weight 5134 extending from the spring 5132. In certain embodiments,the spring 5132 can extend along an axis that defines at least onecontour between the body 5122 and the weight 5134. The spring 5132 canwind, bend, twist, turn, crisscross, and/or zigzag, for example. Thegeometry of the spring 5132 can affect the spring constant thereof, forexample. In at least one embodiment, the spring 5132 can form a firstloop 5137 on a first lateral side of the resonator 5120 and a secondloop 5138 on a second lateral side of the resonator 5120. Anintermediate portion 5139 of the spring 5132 can traverse between thefirst and second loops 5137, 5138, for example. Similar to the spring5032, the spring 5132 can be deflectable, and can deflect in response torotations and/or oscillations of the resonator 5120. Furthermore, incertain embodiments, the weight 5134 can include a pin 5136, which canprovide additional mass to the weight 5134, for example. As describedherein, the mass of the weight 5134 and the geometry and properties ofthe spring 5132 can be selected to optimize the natural frequency of thependulum 5130, and thus, the natural frequency of the entire resonator5120, for example.

Referring still to FIGS. 175 and 176, the resonator 5120 can furthercomprise a counterweight 5124 extending from the body 5122. In certainembodiments, a pin 5126 can extend from the counterweight 5124, and canprovide additional mass to the counterweight 5124, for example. Thependulum 5130 can extend from the body 5122 in a first direction X, andthe counterweight 5124 can extend from the body 5122 in a seconddirection Y. The second direction Y can be different than and/oropposite to the first direction X, for example. In various embodiments,the counterweight 5124 can be designed to balance the mass of thependulum 5130 relative to the mounting bore 5140 through the body 5120.For example, the geometry and material of the counterweight 5124 can beselected such that the center of mass 5128 of the resonator 5120 ispositioned along the central axis of the mounting bore 5140 of the body5122, and thus, along the axis of rotation A (FIG. 173) of the resonator5120.

Similar to the resonator 5020, the resonator 5120 can be designed toamplify the haptic feedback generated by the electric motor 5002 (FIGS.173 and 174) during the third operating state. In other words, theresonator 5120 can be designed such that the natural frequency of theresonator 5120 is optimized, and the electric motor 5002 can oscillateat a frequency that drives the resonator 5120 to oscillate at or nearits optimized natural frequency. For example, the electric motor 5002can drive the resonator 5120 to oscillate within a range of amplifyingfrequencies inclusive of the natural frequency of the resonator 5120. Incertain embodiments, the natural frequency of the resonator 5120 can beapproximated by the natural frequency of the pendulum 5130. In suchembodiments, the pendulum 5130 can be designed to amplify the hapticfeedback generated by the electric motor 5002 during the third operatingstate. For example, the pendulum 5130 can be designed to have anoptimized natural frequency, and the electric motor 5002 can drive theresonator 5120 to oscillate at or near the optimized natural frequencyof the pendulum 5130 in order to amplify the haptic feedback generatedduring the third operating state.

Referring now to FIGS. 177-180, the electric motor 5002 (FIGS. 177 and178) can be positioned within the handle 5101 (FIG. 177) of the surgicalinstrument 5100 (FIG. 177). In various embodiments, a resonator oramplifier 5220 can be mounted on the shaft 5006 (FIG. 170) of theelectric motor 5002. The shaft 5006 can be fixed to the rotor (notillustrated) positioned within the housing 5004, and the shaft 5006 canrotate as the rotor rotates. The washer 5008 (FIG. 170) can secure theresonator 5220 relative to the shaft 5006, for example. Furthermore, theresonator 5220 can be secured to the shaft 5006 such that the resonator5220 rotates and/or moves with the shaft 5006. In various embodiments,the resonator 5220 and/or various portions thereof can be fastened tothe shaft 5006 and/or can be integrally formed therewith, for example.

Referring primarily to FIGS. 179 and 180, similar to the resonators5020, 5120, the resonator 5220 can comprise a body 5222 comprising amounting bore 5240 for receiving the shaft 5006 (FIGS. 176 and 177) ofthe electric motor 5002 (FIGS. 176 and 177). For example, the shaft 5006can extend through the mounting bore 5240 when the resonator 5220 issecured to the shaft 5006. In various embodiments, the body 5222 of theresonator 5220 can be balanced and symmetrical relative to the mountingbore 5240, and the center of mass of the body 5222 can be positionedalong the central axis of the mounting bore 5240, for example. Further,the center of mass of the body 5222 can be positioned along the axis ofrotation of the shaft 5006 such that the body 5222 is balanced relativeto the shaft 5006, for example.

In various embodiments, the resonator 5220 can further comprise apendulum 5230 extending from the body 5222. For example, the pendulum5230 can comprise a spring or bar 5232 extending from the body 5222 anda weight 5234 extending from the spring 5232. In various embodiments,the spring 5232 can curve, wind, bend, twist, turn, crisscross, and/orzigzag between the body 5222 and the weight 5234. Furthermore, incertain embodiments, the weight 5234 can include a pin 5236, which canprovide additional mass to the weight 5234, for example. As describedherein, the mass of the weight 5234 and the geometry and properties ofthe spring 5232 can be selected to optimize the natural frequency of thependulum 5230, and thus, the natural frequency of the entire resonator5220, for example.

In various embodiments, a retainer can limit or constrain radialelongation of the spring 5232 and/or the pendulum 5230 during rotationand/or oscillation. For example, a retainer can comprise a barrier orretaining wall around at least a portion of the pendulum 5230. Duringthe first and second operating states, for example, the spring 5232 maydeform and extend the weight 5234 toward the barrier, which can preventfurther elongation of the spring 5232. For example, referring primarilyto FIGS. 179 and 180, the resonator 5220 can comprise a retainer 5244.The retainer 5244 can comprise a first leg 5246, which can be secured tothe body 5222 and/or to a counterweight 5224 of the resonator 5220. Thefirst leg 5246 can be fixed to the resonator 5220, and can be formed asan integral piece therewith and/or fastened thereto, for example. Theretainer 5244 can further comprise a second leg or barrier leg 5248,which can extend past the weight 5234 of the pendulum 5230 when thespring 5232 is undeformed. The barrier leg 5248 can define the radialboundary 5050 beyond which the pendulum 5230 cannot extend. In otherwords, the barrier leg 5248 can block radial extension of the pendulum5230. For example, the barrier leg 5248 can be out of contact with thependulum 5230 when the spring 5232 is undeformed because the pendulum5230 can be positioned within the radial boundary 5050. In other words,a gap 5249 (FIG. 180) can be defined between the weight 5234 and thebarrier leg 5248 when the spring 5234 is undeformed. Further, thebarrier leg 5248 can remain out of contact with the pendulum 5230 whenthe resonator 5220 oscillates during the third operating state. Forexample, the centrifugal force on the oscillating pendulum 5230 duringthe third operating state may be insufficient to extend the weight 5234of the pendulum 5230 beyond the predefined radial boundary 5050 of themotor 5002. Though the gap 5249 may be reduced during the thirdoperating state, the weight 5234 can remain out of contact with thebarrier leg 5248, for example. In such embodiments, the naturalfrequency of the pendulum 5230 can be substantially unaffected by theretainer 5244 during the third operating state.

In various embodiments, when the resonator 5220 rotates during the firstand second operating states, the spring 5232 of the pendulum 5230 can besubstantially deformed and/or elongated. For example, the rotation ofthe resonator 5220 can generate a centrifugal force on the spring 5232,and the spring 5232 may elongate in response to the centrifugal force.In certain embodiments, the weight 5234 of the pendulum 5230 can movetoward and into abutting contact with the barrier leg 5248 of theretainer 5244. In such embodiments, the barrier 5248 can limit orconstrain further radial elongation of the spring 5232 during the firstand second operating states.

In various embodiments, the retainer 5244 can be substantially rigidsuch that the retainer 5244 resists deformation and/or elongation. Incertain embodiments, the retainer 5244 can be integrally formed with theresonator 5220 and/or secured relative thereto. In some embodiments, theretainer 5244 can be secured to the motor 5002 (FIGS. 177 and 1781). Forexample, the retainer 5244 can be fixed relative to the rotor and/or theshaft 5006 (FIGS. 177 and 178) of the motor 5002 and can rotate and/ormove therewith. In such embodiments, the retainer 5244 can rotate withthe resonator 5220, for example. In various embodiments, the retainer5244 can be fastened to the motor 5002 and/or can be integrally formedtherewith, for example. In certain embodiments, the retainer 5244 canremain stationary relative to the rotating shaft 5008 and/or resonator5220, for example.

Referring still to FIGS. 179 and 180, the resonator 5220 can furthercomprise the counterweight 5224 extending from the body 5222. In certainembodiments, a pin 5226 can extend from the counterweight 5224, and canprovide additional mass to the counterweight 5224, for example. Thependulum 5230 can extend from the body 5222 in a first direction, andthe counterweight 5224 can extend from the body 5222 in a seconddirection. The second direction can be different than and/or opposite tothe first direction of the pendulum 5230, for example. In variousembodiments, the counterweight 5224 can be designed to balance the massof the pendulum 5230 and the retainer 5244 relative to the mounting bore5240 through the body 5220 of the resonator 5220. For example, thegeometry and material of the counterweight 5224 can be selected suchthat the center of mass 5228 of the resonator 5220 is positioned alongthe central axis of the mounting bore 5240 of the body 5222, and thus,along the axis of rotation A (FIG. 177) of the shaft 5008 (FIGS. 177 and178) and the resonator 5220.

Similar to the resonators 5020, 5120, the resonator 5220 can be designedto amplify the haptic feedback generated by the electric motor 5002during the third operating state. In other words, the resonator 5220 canbe designed such that the natural frequency of the resonator 5220 isoptimized, and the electric motor 5002 can oscillate at a frequency thatdrives the resonator 5220 to oscillate at or near its optimized naturalfrequency. For example, the electric motor 5002 can drive the resonator5220 to oscillate within a range of amplifying frequencies inclusive ofthe natural frequency of the resonator 5220. In certain embodiments, thenatural frequency of the resonator 5220 can be approximated by thenatural frequency of the pendulum 5230. In such embodiments, thependulum 5230 can be designed to amplify the haptic feedback generatedby the electric motor 5002 during the third operating state. Forexample, the pendulum 5230 can be designed to have an optimized naturalfrequency, and the electric motor 5002 can drive the resonator 5220 tooscillate at or near the optimized natural frequency of the pendulum5230 to amplify the haptic feedback generated during the third operatingstate.

Referring now to FIG. 181, the electric motor 5002 can be positionedwithin the handle 5101 of the surgical instrument 5100. In variousembodiments, a resonator or amplifier 5320, similar to resonator 5220,for example, can be mounted on the shaft 5006 (FIG. 170) of the electricmotor 5002. The resonator 5320 can comprise a body 5322 comprising amounting bore 5340, for example, a pendulum 5330 comprising a spring5332, a weight 5334, and a pin 5336, for example, and a counterweight5324 comprising a pin 5326, for example. In various embodiments, thecenter of mass of the resonator 5320 can lie along the axis of rotationA, and the geometry and material of the resonator 5230 can be selectedto optimize the natural frequency thereof.

In various embodiments, a retaining ring 5344, similar to retainer 5244,can limit or constrain radial elongation of the spring 5332 and/or thependulum 5230 during rotation and/or oscillation. In variousembodiments, the retaining ring 5344 can comprise a barrier or retainingwall around at least a portion of the pendulum 5330. In certainembodiments, the retaining ring 5344 can comprise a ring encircling theresonator 5320, for example. In various embodiments, the retaining ring5344 can be attached to the electric motor 5002, such as the motorhousing 5004, for example. In other embodiments, the retaining ring 5344can be attached to the handle 5101 of the surgical instrument 5100, forexample. In still other embodiments, the retaining ring 5344 can beattached to the rotor and/or the shaft 5006 (FIG. 170) of the electricmotor 5002 such that the retaining ring 5344 rotates with the shaft 5006and/or the resonator 5320, for example. In various embodiments, theretaining ring 5344 can be substantially rigid such that it resistsdeformation and/or elongation.

The retaining ring 5344 can define the radial boundary beyond which thependulum 5330 cannot extend. For example, the pendulum 5330 can be outof contact with the retaining ring 5344 when the spring 5332 isundeformed. In other words, a gap can be defined between the weight 5334of the pendulum 5330 and the retaining ring 5344 when the spring 5334 isundeformed. Further, the pendulum 5330 can remain out of contact withthe retaining ring 5344 when the resonator 5320 oscillates during thethird operating state. For example, the centrifugal force on theoscillating pendulum 5330 during the third operating state may beinsufficient to extend the weight 5334 of the pendulum 5330 beyond thepredefined radial boundary. Though the gap defined between the weight5334 and the retaining ring 5344 may be reduced during the thirdoperating state, the weight 5334 can remain out of contact with theretaining ring 5344, for example. In such embodiments, the naturalfrequency of the pendulum 5330 can be substantially unaffected by theretaining ring 5344 during the third operating state.

In various embodiments, when the resonator 5320 rotates during the firstand second operating states, the spring 5332 of the pendulum 5330 can besubstantially deformed and/or elongated. For example, the rotation ofthe resonator 5320 can generate a centrifugal force on the spring 5332,and the spring 5332 may elongate in response to the centrifugal force.In certain embodiments, the weight 5334 of the pendulum 5330 can movetoward and into abutting contact with the retaining ring 5344. In suchembodiments, the retaining ring 5344 can limit or constrain furtherradial elongation of the spring 5332 during the first and secondoperating states.

In various embodiments, the surgical instrument 5100 (FIG. 177) cancomprise a control system (not shown), which can control the electricmotor 5002. In various embodiments, the control system can comprise oneor more computers, processors, microprocessors, circuits, circuitelements (e.g., transistors, resistors, capacitors, inductors, and soforth), integrated circuits, application specific integrated circuits(ASIC), programmable logic devices (PLD), digital signal processors(DSP), field programmable gate array (FPGA), logic gates, registers,semiconductor device, chips, microchips, and/or chip sets, for example.The control system can initiate, pause, resume, and/or terminate variousoperating states of the electric motor 5002. For example, the electricmotor 5002 can perform a first function, e.g., advancing the firingelement distally, during the first operating state, and can subsequentlyswitch to the second operating state to perform a second function, e.g.,retracting the firing element proximally. The firing element can beadvanced distally to transect a predefined length of tissue, and/or toeject and/or form a predefined number of staples (illustratedelsewhere), for example. In various embodiments, when the predefinedlength of tissue has been transected and/or the predefined number ofstaples have been ejected and/or formed, the control system can controlthe electric motor 5002 to switch to the second operating state. Thefiring element can be retracted proximally during the second operatingstate to prepare for a subsequent firing stroke, for example. In certainembodiments, the electric motor 5002 can switch to the third operatingstate before the firing element completes the predefined transectionlength, and/or ejection and/or formation of the predefined number ofstaples. For example, the electric motor 5002 can prematurely switchfrom the first operating state to the third operating state tocommunicate a signal indicative of a condition of the surgicalinstrument to the operator. In various embodiments, the electric motor5002 can switch to the third operating state to communicate a potentialoverload warning signal to the operator. In other embodiments, theamplified haptic feedback can communicate a status update to theoperator such as, for example, a signal that the firing element hasreached a distal-most position and/or successfully completed a firingstroke.

In various embodiments, the surgical instrument 5100 may be designed toovercome a maximum threshold force in order to transect tissue. When theforce applied to the firing element exceeds the maximum threshold force,the surgical instrument 5100 may not perform as intended. For example,when the firing element attempts to transect thicker and/or toughertissue, the thicker and/or tougher tissue may exert a force on thefiring element that exceeds the maximum threshold force. Accordingly,the firing element may be unable to transect the thicker and/or toughertissue. In such embodiments, the electric motor 5002 can switch to thethird operating state in order to warn the operator that overload and/orfailure of the surgical instrument 5100 is possible. In variousembodiments, the surgical instrument 5100 can comprise a sensor (notshown). The sensor can be positioned in the end effector (illustratedelsewhere), for example, and can be configured to detect the forceapplied to the firing element during the firing sequence. In certainembodiments, the sensor and the control system can be in signalcommunication. In such embodiments, when the force detected by thesensor exceeds the maximum threshold force, the control system canswitch the electric motor 5002 to the third operating state. In thethird operating state, as described herein, advancement of the firingelement can be paused and the electric motor can generate amplifiedhaptic feedback to communicate the potential overload warning to theoperator.

In response to the amplified haptic feedback, the operator can decidewhether to resume the first operating state or to initiate the secondoperating state. For example, the operator can decide to resumeadvancement of the firing element distally, i.e., operate the surgicalinstrument in a warned operating state, or to heed the potentialoverload warning and retract the firing element proximally, i.e.,operate the surgical instrument in a modified operating state. If theoperator decides to operate the surgical instrument in the warnedoperating state, the surgical instrument 5100 may be at risk of failure.In various embodiments, the surgical instrument 5100 can comprise aninput key (not shown), such as a plurality of lever(s) and/or button(s),for example. In various embodiments, the input key can be in signalcommunication with the control system. The operator can control thesurgical instrument by entering input via the input key. For example,the operator can select a first button of the input key to resumeadvancement of the firing element, i.e., enter the warned operatingstate, or can select a second button of the input key to retract thefiring element, i.e., enter the modified operating state. In variousembodiments, the operator can select an additional button and/or leverto select yet a different operating state.

Though the surgical instrument 5100 may fail when operated in the warnedoperating state, the operator of the surgical instrument 5100 may decidethat the failure risk is outweighed by the necessity and/or urgency ofthe surgical function. For example, when time is essential, the operatormay decide that the risk of instrument failure is outweighed by acritical need to expeditiously complete (or attempt to complete) asurgical transection and/or stapling. Furthermore, by allowing theoperator to determine the course of action, the holistic knowledge ofthe operator can be applied to the surgical procedure, and the operatoris less likely to become confused and/or frustrated with the surgicalinstrument 5100.

In various embodiments, a different motor can generate feedback tocommunicate with the operator. For example, a first motor can drive thefiring member during a firing sequence, and a second motor can generatefeedback. In various embodiments, the second motor can generate sensoryfeedback such as, for example, a noise, a light, and/or a tactile signalto communicate with the operator. Furthermore, in certain embodiments,the control system can control the multiple motors of the surgicalinstrument.

Referring primarily to FIG. 180, a method of operating a surgical systemor surgical instrument can include a plurality of operating states ofthe surgical instrument. For example, the surgical instrument can firstoperate in an initial operating state 5402, and can subsequently operatein one of the secondary operating states 5412 or 5414. The secondaryoperating state can be a warned operating state 5412, for example, or amodified operating state 5414, for example. When the surgical instrumentoperates in the initial operating state 5402, an initial surgicalfunction can be initiated at step S404. The initial surgical functioncan be one or more of various functions of the surgical instrument, suchas, clamping tissue between jaws of an end effector, articulating theend effector, advancing the firing member, retracting the firing member,opening the end effector jaws, and/or repeating and/or combining variousfunction(s), for example. After initiation of the initial surgicalfunction, the surgical instrument can detect a condition of the surgicalinstrument at step S406. For example, where the initial surgicalfunction is advancing the firing member, a sensor can detect aclinically-important condition, such as a force on the advancing firingmember that exceeds a threshold force, for example.

Referring still to FIG. 180, in response to the detected condition, thesurgical instrument can pause the initial surgical function at stepS408. Further, at step S410 the surgical instrument can provide feedbackto the operator of the surgical instrument. The feedback can be asensory feedback, such as a noise, a light, and/or a tactile signal, forexample. In certain embodiments, a first motor can pause the initialsurgical function and a second motor can generate the sensory feedback.Alternatively, as described herein, a multi-function electric motor,such as the electric motor 5002, for example, can switch from the firstoperating state, or advancing state, to the third operating state, orfeedback state, in which the electric motor oscillates to generate theamplified haptic feedback. When the multi-function electric motoroscillates to generate the amplified haptic feedback, advancement and/orretraction of the firing element can be paused and/or reduced to aninsignificant and/or imperceptible amount due to the high gear ratiobetween the electric motor and the firing member. In such embodiments,where the multi-function motor switches from the first operating stateto the third operating state, pausing of the initial surgical functionat step S408 and providing feedback to the operator at step S410 canoccur simultaneously or nearly simultaneously, for example.

In certain embodiments, after the surgical instrument has communicatedfeedback indicative of a particular condition to the operator, theoperator can determine how to proceed. For example, the operator candecide between a plurality of possible operating states. In variousembodiments, the operator can decide to enter a warned operating state5412, or a modified operating state 5414. For example, referring stillto FIG. 180, the operator can select the initial surgical function atstep S416, or can select a modified surgical function at step S418. Invarious embodiments, the operator can interface with a key, button,and/or lever, for example, to select one of the secondary operatingstates. If the operator selects the initial surgical function at stepS416, the surgical instrument can resume the initial surgical functionat step S418. If the operator selects the modified surgical function atstep S420, the surgical instrument can initiate the modified surgicalfunction at step S422.

FIGS. 183-192 illustrate various embodiments of an apparatus, system,and method for absolute position sensing on rotary or linear driveendocutter. Microcontroller controlled endocutters require position andvelocity values to be able to properly control articulation, firing, andother surgical functions. This has been accomplished in the past via useof rotary encoders attached to the drive motors, which enable themicrocontroller to infer the position by counting the number of stepsbackwards and forwards the motor has taken. It is preferable, in variouscircumstances, to replace this system with a compact arrangement whichprovides a unique position signal to the microcontroller for eachpossible location of the drive bar or knife. Various exemplaryimplementations of such absolute position sensor arrangements for rotaryor linear drive endocutter are now described with particularity inconnection with FIGS. 183-192.

FIG. 183 is an exploded perspective view of a surgical instrument handle1042 of FIG. 34 showing a portion of a sensor arrangement 7002 for anabsolute positioning system 7000, according to one embodiment. Thesurgical instrument handle 1042 of FIG. 34 has been described in detailin connection with FIG. 34. Accordingly, for conciseness and clarity ofdisclosure, other than describing the elements associated with thesensor arrangement 7002 for an absolute positioning system 7000, suchdetailed description of the surgical instrument handle 1042 of FIG. 34will not be repeated here. Accordingly, as shown in FIG. 183, thesurgical instrument handle 1042 of the housing 1040 operably supports afiring drive system 1100 that is configured to apply firing motions tocorresponding portions of the interchangeable shaft assembly. The firingdrive system 1100 may employ an electric motor 1102. In various forms,the motor 1102 may be a DC brushed driving motor having a maximumrotation of, approximately, 25,000 RPM, for example. In otherarrangements, the motor may include a brushless motor, a cordless motor,a synchronous motor, a stepper motor, or any other suitable electricmotor. A battery 1104 (or “power source” or “power pack”), such as a Liion battery, for example, may be coupled to the handle 1042 to supplypower to a control circuit board assembly 1106 and ultimately to themotor 1102. The battery pack housing 1104 may be configured to bereleasably mounted to the handle 1042 for supplying control power to thesurgical instrument 1010 (FIG. 33). A number of battery cells connectedin series may be used as the power source to power the motor. Inaddition, the power source may be replaceable and/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 1102 can include a rotatable shaft (not shown) that operablyinterfaces with a gear reducer assembly 1108 that is mounted in meshingengagement with a with a set, or rack, of drive teeth 1112 on alongitudinally-movable drive member 1110. In use, a voltage polarityprovided by the battery can operate the electric motor 1102 in aclockwise direction wherein the voltage polarity applied to the electricmotor by the battery can be reversed in order to operate the electricmotor 1102 in a counter-clockwise direction. When the electric motor1102 is rotated in one direction, the drive member 1110 will be axiallydriven in the distal direction “D”. When the motor 1102 is driven in theopposite rotary direction, the drive member 1110 will be axially drivenin a proximal direction “P”. The handle 1042 can include a switch whichcan be configured to reverse the polarity applied to the electric motor1102 by the battery. As with the other forms described herein, thehandle 1042 can also include a sensor that is configured to detect theposition of the drive member 1110 and/or the direction in which thedrive member 1110 is being moved.

FIG. 184 is a side elevational view of the handle of FIG. 183 with aportion of the handle housing removed showing a portion of a sensorarrangement 7002 for an absolute positioning system 7000, according toone embodiment. The housing 1040 of the handle 1042 supports the controlcircuit board assembly 1106, which comprises the necessary logic andother circuit components necessary to implement the absolute positioningsystem 7000.

FIG. 185 is a schematic diagram of an absolute positioning system 7000comprising a microcontroller 7004 controlled motor drive circuitarrangement comprising a sensor arrangement 7002, according to oneembodiment. The electrical and electronic circuit elements associatedwith the absolute positioning system 7000 and/or the sensor arrangement7002 are supported by the control circuit board assembly 1106. Themicrocontroller 7004 generally comprises a memory 7006 and amicroprocessor 7008 (“processor”) operationally coupled. The processor7008 controls a motor driver 7010 circuit to control the position andvelocity of the motor 1102. The motor 1102 is operatively coupled to asensor arrangement 7002 and an absolute position sensor 7012 arrangementto provide a unique position signal to the microcontroller 7004 for eachpossible location of a drive bar or knife of the surgical instrument1010 (FIG. 33). The unique position signal is provided to themicrocontroller 7004 over feedback element 7024. It will be appreciatedthat the unique position signal may be an analog signal or digital valuebased on the interface between the position sensor 7012 and themicrocontroller 7004. In one embodiment described hereinbelow, theinterface between the position sensor 7012 and the microcontroller 7004is standard serial peripheral interface (SPI) and the unique positionsignal is a digital value representing the position of a sensor element7026 over one revolution. The value representative of the absoluteposition of the sensor element 7026 over one revolution can be stored inthe memory 7006. The absolute position feedback value of the sensorelement 7026 corresponds to the position of the articulation and knifeelements. Therefore, the absolute position feedback value of the sensorelement 7026 provides position feedback control of the articulation andknife elements.

The battery 1104, or other energy source, provides power for theabsolute positioning system 7000. In addition, other sensor(s) 7018 maybe provided to measure other parameters associated with the absolutepositioning system 7000. One or more display indicators 7020, which mayinclude an audible component, also may provided.

As shown in FIG. 185, a sensor arrangement 7002 provides a uniqueposition signal corresponding to the location of thelongitudinally-movable drive member 1110. The electric motor 1102 caninclude a rotatable shaft 7016 that operably interfaces with a gearassembly 7014 that is mounted in meshing engagement with a with a set,or rack, of drive teeth 1112 (FIG. 183) on the longitudinally-movabledrive member 1110. The sensor element 7026 may be operably coupled tothe gear assembly 7104 such that a single revolution of the sensorelement 7026 corresponds to some linear longitudinal translation of thelongitudinally-movable drive member 1110, as described in more detailhereinbelow. In one embodiment, an arrangement of gearing and sensorscan be connected to the linear actuator via a rack and pinionarrangement, or a rotary actuator via a spur gear or other connection.For embodiments comprising a rotary screw-drive configuration where alarger number of turns would be required, a high reduction gearingarrangement between the drive member and the sensor, like a worm andwheel, may be employed.

In accordance one embodiment of the present disclosure, the sensorarrangement 7002 for the absolute positioning system 7000 provides amore robust position sensor 7012 for use with surgical devices. Byproviding a unique position signal or value for each possible actuatorposition, such arrangement eliminates the need for a zeroing orcalibration step and reduces the possibility of negative design impactin the cases where noise or power brown-out conditions may createposition sense errors as in conventional rotary encoder configurations.

In one embodiment, the sensor arrangement 7002 for the absolutepositioning system 7000 replaces conventional rotary encoders typicallyattached to the motor rotor and replaces it with a position sensor 7012which generates a unique position signal for each rotational position ina single revolution of a sensor element associated with the positionsensor 7012. Thus, a single revolution of a sensor element associatedwith the position sensor 7012 is equivalent to a longitudinal lineardisplacement d1 of the of the longitudinally-movable drive member 1110.In other words, d1 is the longitudinal linear distance that thelongitudinally-movable drive member 1110 moves from point a to point bafter a single revolution of a sensor element coupled to thelongitudinally-movable drive member 1110. The sensor arrangement 7002may be connected via a gear reduction that results in the positionsensor 7012 completing only a single turn for the full stroke of thelongitudinally-movable drive member 1110. With a suitable gear ratio,the full stroke of the longitudinally-movable drive member 1110 can berepresented in one revolution of the position sensor 7012.

A series of switches 7022 a to 7022 n, where n is an integer greaterthan one, may be employed alone or in combination with gear reduction toprovide a unique position signal for more than one revolution of theposition sensor 7012. The state of the switches 7022 a-7022 n are fedback to the microcontroller 7004 which applies logic to determine aunique position signal corresponding to the longitudinal lineardisplacement d1+d2+ . . . dn of the longitudinally-movable drive member1110.

Accordingly, the absolute positioning system 7000 provides an absoluteposition of the longitudinally-movable drive member 1110 upon power upof the instrument without retracting or advancing thelongitudinally-movable drive member 1110 to a reset (zero or home)position as may be required with conventional rotary encoders thatmerely count the number of steps forwards or backwards that motor hastaken to infer the position of a device actuator, drive bar, knife, andthe like.

In various embodiments, the position sensor 7012 of the sensorarrangement 7002 may comprise one or more magnetic sensor, analog rotarysensor like a potentiometer, array of analog Hall-effect elements, whichoutput a unique combination of position signals or values, among others,for example.

In various embodiments, the microcontroller 7004 may be programmed toperform various functions such as precise control over the speed andposition of the knife and articulation systems. Using the known physicalproperties, the microcontroller 7004 can be designed to simulate theresponse of the actual system in the software of the controller 7004.The simulated response is compared to (noisy and discrete) measuredresponse of the actual system to obtain an “observed” response, which isused for actual feedback decisions. The observed response is afavorable, tuned, value that balances the smooth, continuous nature ofthe simulated response with the measured response, which can detectoutside influences on the system.

In various embodiments, the absolute positioning system 7000 may furthercomprise and/or be programmed to implement the followingfunctionalities. A feedback controller, which can be one of any feedbackcontrollers, including, but not limited to: PID, state feedback andadaptive. A power source converts the signal from the feedbackcontroller into a physical input to the system, in this case voltage.Other examples include, but are not limited to pulse width modulated(PWMed) voltage, current and force. The motor 1102 may be a brushed DCmotor with a gearbox and mechanical links to an articulation or knifesystem. Other sensor(s) 7018 may be provided to measure physicalparameters of the physical system in addition to position measured bythe position sensor 7012. Since it is a digital signal (or connected toa digital data acquisition system) its output will have finiteresolution and sampling frequency. A compare and combine circuit may beprovided to combine the simulated response with the measured responseusing algorithms such as, without limitation, weighted average andtheoretical control loop that drives the simulated response towards themeasured response. Simulation of the physical system takes in account ofproperties like mass, inertial, viscous friction, inductance resistance,etc. to predict what the states and outputs of the physical system willbe by knowing the input.

In one embodiment, the microcontroller 7004 may be an LM 4F230H5QR,available from Texas Instruments, for example. In one embodiment, theTexas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Corecomprising on-chip memory 7006 of 256 KB single-cycle flash memory, orother non-volatile memory, up to 40 MHz, a prefetch buffer to improveperformance above 40 MHz, a 32 KB single-cycle serial random accessmemory (SRAM), internal read-only memory (ROM) loaded with StellarisWaresoftware, 2 KB electrically erasable programmable read-only memory(EEPROM), two pulse width modulation (PWM) modules, with a total of 16advanced PWM outputs for motion and energy applications, two quadratureencoder inputs (QEI) analog, two 12-bit Analog-to-Digital Converters(ADC) with 12 analog input channels, among other features that arereadily available for the product datasheet. Other microcontrollers maybe readily substituted for use in the absolute positioning system 7000.Accordingly, the present disclosure should not be limited in thiscontext.

In one embodiment, the driver 7010 may be a A3941 available from AllegroMicrosystems, Inc. The A3941 driver 7010 is a full-bridge controller foruse with external N-channel power metal oxide semiconductor field effecttransistors (MOSFETs) specifically designed for inductive loads, such asbrush DC motors. The driver 7010 comprises a unique charge pumpregulator provides full (>10 V) gate drive for battery voltages down to7 V and allows the A3941 to operate with a reduced gate drive, down to5.5 V. A bootstrap capacitor may be employed to provide theabove-battery supply voltage required for N-channel MOSFETs. An internalcharge pump for the high-side drive allows DC (100% duty cycle)operation. The full bridge can be driven in fast or slow decay modesusing diode or synchronous rectification. In the slow decay mode,current recirculation can be through the high-side or the lowside FETs.The power FETs are protected from shoot-through by resistor adjustabledead time. Integrated diagnostics provide indication of undervoltage,overtemperature, and power bridge faults, and can be configured toprotect the power MOSFETs under most short circuit conditions. Othermotor drivers may be readily substituted for use in the absolutepositioning system 7000. Accordingly, the present disclosure should notbe limited in this context.

Having described a general architecture for implementing variousembodiments of an absolute positioning system 7000 for a sensorarrangement 7002, the disclosure now turns to FIGS. 186-192 for adescription of one embodiment of a sensor arrangement for the absolutepositioning system 7000. In the embodiment illustrated in FIG. 186, thesensor arrangement 7002 comprises a magnetic position sensor 7100, abipolar magnet 7102 sensor element, a magnet holder 7104 that turns onceevery full stroke of the longitudinally-movable drive member 1110 (FIGS.183-185), and a gear assembly 7106 to provide a gear reduction. Astructural element such as bracket 7116 is provided to support the gearassembly 7106, the magnet holder 7104, and the magnet 7102. The magneticposition sensor 7100 comprises one or more than one magnetic sensingelements such as Hall elements and is placed in proximity to the magnet7102. Accordingly, as the magnet 7102 rotates, the magnetic sensingelements of the magnetic position sensor 7100 determine the absoluteangular position of the magnetic 7102 over one revolution.

In various embodiments, any number of magnetic sensing elements may beemployed on the absolute positioning system 7000, such as, for example,magnetic sensors classified according to whether they measure the totalmagnetic field or the vector components of the magnetic field. Thetechniques used to produce both types of magnetic sensors encompass manyaspects of physics and electronics. The technologies used for magneticfield sensing include search coil, fluxgate, optically pumped, nuclearprecession, SQUID, Hall-effect, anisotropic magnetoresistance, giantmagnetoresistance, magnetic tunnel junctions, giant magnetoimpedance,magnetostrictive/piezoelectric composites, magnetodiode,magnetotransistor, fiber optic, magnetooptic, and microelectromechanicalsystems-based magnetic sensors, among others.

In the illustrated embodiment, the gear assembly 7106 comprises a firstgear 7108 and a second gear 7110 in meshing engagement to provide a 3:1gear ratio connection. A third gear 7112 rotates about shaft 7114. Thethird gear is in meshing engagement with the longitudinally-movabledrive member 1110 and rotates in a first direction as thelongitudinally-movable drive member 1110 advances in a distal directionD (FIG. 183) and rotates in a second direction as thelongitudinally-movable drive member 1110 retracts in a proximaldirection P (FIG. 183). The second gear 7110 rotates about the sameshaft 7114 and therefore, rotation of the second gear 7110 about theshaft 7114 corresponds to the longitudinal translation of thelongitudinally-movable drive member 1110. Thus, one full stroke of thelongitudinally-movable drive member 1110 in either the distal orproximal directions D, P corresponds to three rotations of the secondgear 7110 and a single rotation of the first gear 7108. Since the magnetholder 7104 is coupled to the first gear 7108, the magnet holder 7104makes one full rotation with each full stroke of thelongitudinally-movable drive member 1110.

FIG. 187 is an exploded perspective view of the sensor arrangement 7002for the absolute positioning system 7000 showing a control circuit boardassembly 1106 and the relative alignment of the elements of the sensorarrangement 7002, according to one embodiment. The position sensor 7100(not shown in this view) is supported by a position sensor holder 7118defining an aperture 7120 suitable to contain the position sensor 7100is precise alignment with a rotating magnet 7102 below. The fixture 7120is coupled to the bracket 7116 and to the control circuit board assembly1106 and remains stationary while the magnet 7102 rotates with themagnet holder 7104. A hub 7122 is provided to mate with the first gear7108/magnet holder 7104 assembly.

FIGS. 188-190 provide additional views of the sensor arrangement 7002,according to one embodiment. In particular, FIG. 188 shows the entiresensor arrangement 7002 positioned in operational mode. The positionsensor holder 7118 is located below the control circuit board assembly1106 and encapsulates the magnet holder 7104 and magnet 7102. FIG. 189shows the magnet 7102 located below the aperture 7120 defined in theposition sensor holder 7118. The position sensor 7100 and the controlcircuit board assembly 1106 are not shown for clarity. FIG. 190 showsthe sensor arrangement 7002 with the control circuit board assembly1106, the position sensor holder 7118, the position sensor 7100, and themagnet 7102 removed to show the aperture 7124 that receives the magnet7102.

FIG. 191 is a top view of the sensor arrangement 7002 shown with thecontrol circuit board 1106 removed but the electronic components stillvisible to show the relative position between the position sensor 7100and the circuit components 7126, according to one embodiment. In theembodiment illustrated in connection with FIGS. 186-191, the gearassembly 7106 composed of first gear 7108 and second gear 7110 have a3:1 gear ratio such that three rotations of the second gear 7110provides a single rotation of the first gear 7108 and thus the magnetholder 7104. As previously discussed, the position sensor 7100 remainsstationary while the magnet holder 7104/magnet 7102 assembly rotates.

As discussed above, a gear assembly can be utilized to drive the magnetholder 7104 and the magnet 7102. A gear assembly can be useful invarious circumstances as the relative rotation between one gear in thegear assembly and another gear in the gear assembly can be reliablypredicted. In various other circumstances, any suitable drive means canbe utilized to drive the holder 7104 and the magnet 7102 so long as therelationship between the output of the motor and the rotation of themagnet 7102 can be reliably predicted. Such means can include, forexample, a wheel assembly including at least two contacting wheels, suchas plastic wheels and/or elastomeric wheels, for example, which cantransmit motion therebetween. Such means can also include, for example,a wheel and belt assembly.

FIG. 192 is a schematic diagram of one embodiment of a position sensor7100 sensor for an absolute positioning system 7000 comprising amagnetic rotary absolute positioning system, according to oneembodiment. In one embodiment, the position sensor 7100 may beimplemented as an AS5055EQFT single-chip magnetic rotary position sensoravailable from austriamicrosystems, AG. The position sensor 7100 isinterfaced with the microcontroller 7004 to provide an absolutepositioning system 7000. The position sensor 7100 is a low voltage andlow power component and includes four integrated Hall-effect elements7128A, 7128B, 7128C, 7128D in an area 7130 of the position sensor 7100that is located above the magnet 7104 (FIGS. 186, 187). A highresolution ADC 7132 and a smart power management controller 7138 arealso provided on the chip. A CORDIC processor 7136 (for COordinateRotation DIgital Computer), also known as the digit-by-digit method andVolder's algorithm, is provided to implement a simple and efficientalgorithm to calculate hyperbolic and trigonometric functions thatrequire only addition, subtraction, bitshift, and table lookupoperations. The angle position, alarm bits and magnetic fieldinformation are transmitted over a standard SPI interface 7134 to thehost processor, microcontroller 7004. The position sensor 7100 provides12 or 14 bits of resolution. In the embodiment illustrated in FIG. 191,the position sensor 7100 is an AS5055 chip provided in a small QFN16-pin 4×4×0.85 mm package.

The Hall-effect elements 7128A, 7128B, 7128C, 7128D are located directlyabove the rotating magnet. The Hall-effect is a well known effect andwill not be described in detail herein for the sake of conciseness andclarity of disclosure. Generally, the Hall-effect is the production of avoltage difference (the Hall voltage) across an electrical conductor,transverse to an electric current in the conductor and a magnetic fieldperpendicular to the current. It was discovered by Edwin Hall in 1879.The Hall coefficient is defined as the ratio of the induced electricfield to the product of the current density and the applied magneticfield. It is a characteristic of the material from which the conductoris made, since its value depends on the type, number, and properties ofthe charge carriers that constitute the current. In the AS5055 positionsensor 7100, the Hall-effect elements 7128A, 7128B, 7128C, 7128D arecapable producing a voltage signal that is indicative of the absoluteposition of the magnet 7104 (FIGS. 186, 187) in terms of the angle overa single revolution of the magnet 7104. This value of the angle, whichis unique position signal, is calculated by the CORDIC processor 7136 isstored onboard the AS5055 position sensor 7100 in a register or memory.The value of the angle that is indicative of the position of the magnet7104 over one revolution is provided to the host processor 7004 in avariety of techniques, e.g., upon power up or upon request by the hostprocessor 7004.

The AS5055 position sensor 7100 requires only a few external componentsto operate when connected to the host microcontroller 7004. Six wiresare needed for a simple application using a single power supply: twowires for power and four wires 7140 for the SPI serial communicationinterface 7134 with the host microcontroller 7004. A seventh connectioncan be added in order to send an interrupt to the host microcontroller7004 to inform that a new valid angle can be read.

Upon power-up, the AS5055 position sensor 7100 performs a full power-upsequence including one angle measurement. The completion of this cycleis indicated as an INT request at output pin 7142 and the angle value isstored in an internal register. Once this output is set, the AS5055position sensor 7100 suspends to sleep mode. The externalmicrocontroller 7004 can respond to the INT request at 7142 by readingthe angle value from the AS5055 position sensor 7100 over the SPIinterface 7134. Once the angle value is read by the microcontroller7004, the INT output 7142 is cleared again. Sending a “read angle”command by the SPI interface 7134 by the microcontroller 7004 to theposition sensor 7100 also automatically powers up the chip and startsanother angle measurement. As soon ad the microcontroller 7004 hascompleted reading of the angle value, the INT output 7142 is cleared anda new result is stored in the angle register. The completion of theangle measurement is again indicated by setting the INT output 7142 anda corresponding flag in the status register.

Due to the measurement principle of the AS5055 position sensor 7100,only a single angle measurement is performed in very short time (˜600μs) after each power-up sequence. As soon as the measurement of oneangle is completed, the AS5055 position sensor 7100 suspends topower-down state. An on-chip filtering of the angle value by digitalaveraging is not implemented, as this would require more than one anglemeasurement and consequently, a longer power-up time which is notdesired in low power applications. The angle jitter can be reduced byaveraging of several angle samples in the external microcontroller 7004.For example, an averaging of 4 samples reduces the jitter by 6 dB (50%).

As discussed above, the motor 1102 positioned within the handle 1042 ofsurgical instrument system 1000 can be utilized to advance and/orretract the firing system of the shaft assembly 1200, including firingmembers 1272 and 1280, for example, relative to the end effector 1300 ofthe shaft assembly 1200 in order to staple and/or incise tissue capturedwithin the end effector 1300. In various circumstances, it may bedesirable to advance the firing members 1272 and 1280 at a desiredspeed, or within a range of desired speeds. Likewise, it may bedesirable to retract the firing members 1272 and 1280 at a desiredspeed, or within a range of desired speeds. In various circumstances,the microcontroller 7004 of the handle 1042, for example, and/or anyother suitable controller, can be configured to control the speed of thefiring members 1272 and 1280. In some circumstances, the controller canbe configured to predict the speed of the firing members 1272 and 1280based on various parameters of the power supplied to the motor 1102,such as voltage and/or current, for example, and/or other operatingparameters of the motor 1102. The controller can also be configured topredict the current speed of the firing members 1272 and 1280 based onthe previous values of the current and/or voltage supplied to the motor1102, and/or previous states of the system like velocity, acceleration,and/or position. Furthermore, the controller can also be configured tosense the speed of the firing members 1272 and 1280 utilizing theabsolute positioning sensor system described above, for example. Invarious circumstances, the controller can be configured to compare thepredicted speed of the firing members 1272 and 1280 and the sensed speedof the firing members 1272 and 1280 to determine whether the power tothe motor 1102 should be increased in order to increase the speed of thefiring members 1272 and 1280 and/or decreased in order to decrease thespeed of the firing members 1272 and 1280. U.S. patent application Ser.No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, nowU.S. Pat. No. 8,210,411, is incorporated by reference in its entirety.U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES, is incorporated by referencein its entirety.

Using the physical properties of the instruments disclosed herein,turning now to FIGS. 198 and 199, a controller, such as microcontroller7004, for example, can be designed to simulate the response of theactual system of the instrument in the software of the controller. Thesimulated response is compared to a (noisy and discrete) measuredresponse of the actual system to obtain an “observed” response, which isused for actual feedback decisions. The observed response is afavorable, tuned, value that balances the smooth, continuous nature ofthe simulated response with the measured response, which can detectoutside influences on the system. With regard to FIGS. 198 and 199, afiring element, or cutting element, in the end effector 1300 of theshaft assembly 1200 can be moved at or near a target velocity, or speed.The systems disclosed in FIGS. 198 and 199 can be utilized to move thecutting element at a target velocity. The systems can include a feedbackcontroller 4200, which can be one of any feedback controllers,including, but not limited to a PID, a State Feedback, LQR, and/or anAdaptive controller, for example. The systems can further include apower source. The power source can convert the signal from the feedbackcontroller 4200 into a physical input to the system, in this casevoltage, for example. Other examples include, but are not limited to,pulse width modulated (PWM) voltage, frequency modulated voltage,current, torque, and/or force, for example.

With continued reference to FIGS. 198 and 199, the physical systemreferred to therein is the actual drive system of the instrumentconfigured to drive the firing member, or cutting member. One example isa brushed DC motor with gearbox and mechanical links to an articulationand/or knife system. Another example is the motor 1102 disclosed hereinthat operates the firing member 10060 and the articulation driver 10030,for example, of an interchangeable shaft assembly. The outside influence4201 referred to in FIGS. 198 and 199 is the unmeasured, unpredictableinfluence of things like tissue, surrounding bodies and friction on thephysical system, for example. Such outside influence can be referred toas drag and can be represented by a motor 4202 which acts in oppositionto the motor 1102, for example. In various circumstances, outsideinfluence, such as drag, is the primary cause for deviation of thesimulation of the physical system from the actual physical system. Thesystems depicted in FIGS. 198 and 199 and further discussed below canaddress the differences between the predicted behavior of the firingmember, or cutting member, and the actual behavior of the firing member,or cutting member.

With continued reference to FIGS. 198 and 199, the discrete sensorreferred to therein measures physical parameters of the actual physicalsystem. One embodiment of such a discrete sensor can include theabsolute positioning sensor 7102 and system described herein. As theoutput of such a discrete sensor can be a digital signal (or connectedto a digital data acquisition system) its output may have finiteresolution and sampling frequency. The output of the discrete sensor canbe supplied to a microcontroller, such as microcontroller 7004, forexample. In various circumstances, the microcontroller can combine thesimulated, or estimated, response with the measured response. In certaincircumstances, it may be useful to use enough measured response toensure that the outside influence is accounted for without making theobserved response unusably noisy. Examples for algorithms that do soinclude a weighted average and/or a theoretical control loop that drivesthe simulated response towards the measured response, for example.Ultimately, further to the above, the simulation of the physical systemtakes in account of properties like mass, inertial, viscous friction,and/or inductance resistance, for example, to predict what the statesand outputs of the physical system will be by knowing the input. FIG.199 shows an addition of evaluating and measuring the current suppliedto operate the actual system, which is yet another parameter that can beevaluated for controlling the speed of the cutting member, or firingmember, of the shaft assembly 1200, for example. By measuring current inaddition to or in lieu of measuring the voltage, in certaincircumstances, the physical system can be made more accurate.Nonetheless, the ideas disclosed herein can be extended to themeasurement of other state parameters of other physical systems.

Having described various embodiments of an absolute positioning system7000 to determine an absolute position signal/value of a sensor elementcorresponding to a unique absolute position of elements associated witharticulation and firing, the disclosure now turns to a description ofseveral techniques for employing the absolute position/value in aposition feedback system to control the position of the articulation andknife to compensate for knife band splay in a powered articulatedsurgical instrument 1010 (FIG. 33). The absolute positioning system 7000provides a unique position signal/value to the microcontroller for eachpossible location of the drive bar or knife along the length of thestaple cartridge.

The operation of the articulation joint 1350 has been described inconnection with FIG. 37 and will not be repeated in detail in thissection for conciseness and clarity of disclosure. The operation of thearticulation joint 10090 has been described in connection with FIG. 102and will not be repeated in detail in this section for conciseness andclarity of disclosure. FIG. 193 illustrates an articulation joint 8000in a straight position, i.e., at a zero angle θ₀ relative to thelongitudinal direction depicted as longitudinal axis L-A, according toone embodiment. FIG. 195 illustrates the articulation joint 8000 of FIG.193 articulated in one direction at a first angle θ₁ defined between thelongitudinal axis L-A and the articulation axis A-A, according to oneembodiment. FIG. 195 illustrates the articulation joint 8000 of FIG. 194articulated in another direction at a second angle θ₂ defined betweenthe longitudinal axis L-A and the articulation axis A′-A, according toone embodiment.

The surgical instrument according to the present disclosure utilizesmultiple flexible knife bands 8002 to transfer compressive force to atranslating a knife element in the cartridge (not shown) of the endeffector 1300 (FIG. 37). The flexible knife bands 8002 enable theend-effector 1300 (FIG. 33) to articulate through a variety of angles θ.The act of articulating, however, causes the flexible knife bands 8002to splay. Splay of the flexible knife bands 8002 changes the effectivetransection length T₁ in the longitudinal direction. Thus, it isdifficult to determine the exact position of the knife past thearticulation joint 8000 when the flexible knife bands 8002 arearticulated past an angle of θ=0. As previously discussed, the positionof the articulation and knife element can be determined directly usingthe absolute position feedback signal/value from the absolutepositioning system 7000 when the articulation angle is zero θ_(o) asshown in FIG. 194. However, when the flexible knife bands 8002 deviatefrom a zero angle θ₀ from the longitudinal axis L-A, the absoluteposition of the knife within the cartridge cannot be preciselydetermined based on the absolute position signal/value provided by theabsolute positioning system 7000 to the microcontroller 7004, withoutknowing the articulation angle θ.

In one embodiment, the articulation angle θ can be determined fairlyaccurately based on the firing drive of the surgical instrument. Asoutlined above, the movement of the firing member 10060 can be trackedby the absolute positioning system 7000 wherein, when the articulationdrive is operably coupled to the firing member 10060 by the clutchsystem 10070, for example, the absolute positioning system 7000 can, ineffect, track the movement of the articulation system via the firingmember 10060. As a result of tracking the movement of the articulationsystem, the controller of the surgical instrument can track thearticulation angle θ of the end effector, such as end effector 10020,for example. In various circumstances, as a result, the articulationangle θ can be determined as a function of longitudinal displacementD_(L) of the flexible knife bands 8002. Since the longitudinaldisplacement D_(L) of the flexible knife bands 8002 can be preciselydetermined based on the absolute position signal/value provided by theabsolute positioning system 7000, an algorithm may be employed tocompensate for the error in displacement of the knife following thearticulation joint 8000.

In another embodiment, the articulation angle θ can be determined bylocating sensors on the flexible knife bands 8002 distal D to thearticulation joint 8000. The sensors can be configured to sense theamount of tension or compression in the articulated flexible knife bands8002. The measured tension or compression results are provided to themicrocontroller 7004 to calculate the articulation angle θ based on theamount of tension or compression measured in the knife bands 8002.Suitable sensors such as microelectronic mechanical systems (MEMS)devices and strain gauges may be readily adapted to make suchmeasurements. Other techniques include locating a tilt sensor,inclinometer, accelerometer, or any suitable device for measuringangles, in the articulation joint 8000 to measure the articulation angleθ.

In various embodiments, several techniques for compensating for splay ofthe flexible knife bands 8002 in a powered articulatable surgicalinstrument 1010 (FIG. 33) are described hereinbelow in the context of apowered surgical instrument 1010 comprising an absolute positioningsystem 7000 and a microcontroller 7004 with data storage capability suchas memory 7006.

FIG. 196 illustrates one embodiment of a logic diagram 8100 for a methodof compensating for the effect of splay in flexible knife bands 8002 ontransection length T₁. The method will be described in connection withFIGS. 185 and 192-196. Accordingly, in one embodiment of a method 8100of compensating for the effect of splay in flexible knife bands 8002 ontransection length T₁, the relationship between articulation angle θ ofthe end effector 1300 (FIG. 37), or end effector 10020 (FIG. 102), forexample, and effective transection length T₁ distal of the articulationjoint 8000 is initially characterized and the characterization data isstored in the memory 7006 of the surgical instrument 1010 (FIG. 33). Inone embodiment, the memory 7006 is a nonvolatile memory such as flashmemory, EEPROM, and the like. The processor 7008 portion of themicrocontroller 7004 accesses 8102 the characterization data stored inthe memory 7006. The processor 7008 tracks 8104 the articulation angleof the end effector 1300 during use of the surgical instrument 1010. Theprocessor 7008 adjusts 8106 the target transection length T₁ by thesurgical instrument 1010 based on the known articulation angle θ_(M) andthe stored characterization data representative of the relationshipbetween the articulation angle θ_(S) and the transection length T₁.

In various embodiments, the characterization data representative of therelationship between the articulation angle θ of the end effector 1300(FIG. 37) and the effective transection length T₁ may be completed forthe shaft of the surgical instrument 1010 (FIG. 33) duringmanufacturing. In one embodiment, the output of the characterization8102 process is a lookup table implemented in the memory 7006.Accordingly, in one embodiment, the processor 7008 accesses thecharacterization data from the lookup table implemented in the memory7006. In one aspect, the lookup table comprises an array that replacesruntime computation with a simpler array indexing operation. The savingsin terms of processing time can be significant, since retrieving a valuefrom the memory 7006 by the processor 7008 is generally faster thanundergoing an “expensive” computation or input/output operation. Thelookup table may be precalculated and stored in static program storage,calculated (or “pre-fetched”) as part of a program's initializationphase (memorization), or even stored in hardware in application-specificplatforms. In the instant application, the lookup table stores theoutput values of the characterization of the relationship betweenarticulation angle of the end effector 1300 (FIG. 37) and effectivetransection length. The lookup table stores these output values in anarray and, in some programming languages, may include pointer functions(or offsets to labels) to process the matching input. Thus, for eachunique value of linear displacement D_(L) there is a correspondingarticulation angle θ. The articulation angle 8 is used to calculate acorresponding transection length T₁ displacement distal the articulationjoint 8000, the articulation joint 1350, or the articulation joint10090, for example. The corresponding transection length T₁ displacementis stored in the lookup table and is used by the microcontroller 7004 todetermine the position of the knife past the articulation joint. Otherlookup table techniques are contemplated within the scope of the presentdisclosure.

In one embodiment, the output of the characterization 8102 process is abest curve fit formula, linear or nonlinear. Accordingly, in oneembodiment, the processor 7008 is operative to execute computer readableinstructions to implement a best curve fit formula based on thecharacterization data. Curve fitting is the process of constructing acurve, or mathematical function that has the best fit to a series ofdata points, possibly subject to constraints. Curve fitting can involveeither interpolation, where an exact fit to the data is required. In theinstant disclosure, the curve represents the transection length T₁displacement of the flexible knife bands 8002 distal D of thearticulated articulation joint 8000 (FIG. 37) based on the articulationangle θ, which depends on the linear displacement D_(L) of the flexibleknife bands 8002 proximal P to the articulation joint 1350. The datapoints such as linear displacement D_(L) of the flexible knife bands8002 proximal to the articulation joint 1350, displacement T₁ of theflexible knife bands 8002 distal the articulated articulation joint1350, and articulation angle θ can be measured and used to generate abest fit curve in the form of an n^(th) order polynomial (usually a3^(rd) order polynomial would provide a suitable curve fit to themeasured data). The microcontroller 7004 can be programmed to implementthe n^(th) order polynomial. In use, input the n^(th) order polynomialis the linear displacement of the flexible knife bands 8002 derived fromthe unique absolute position signal/value provided by the absolutepositioning system 7000.

In one embodiment, the characterization 8102 process accounts forarticulation angle θ and compressive force on the knife bands 8002.

In one embodiment, the effective transection length is a distancebetween the distal most surface of the knife blade in relationship to apredetermined reference in the handle of the surgical instruments 1010.

In various embodiments, the memory 7006 for storing the characterizationmay be a nonvolatile memory located on the on the shaft, the handle, orboth, of the surgical instrument 1010 (FIG. 33).

In various embodiments, the articulation angle θ can be tracked by asensor located on the shaft of the surgical instrument 1010 (FIG. 33).In other embodiments, the articulation angle θ can be tracked by asensor on the handle of the surgical instrument 1010 or articulationangle θ can be tracked by variables within the control software for thesurgical instrument 1010.

In one embodiment, the characterization is utilized by control softwareof the microcontroller 7004 communicating with the non-volatile memory7006 to gain access to the characterization.

Various embodiments described herein are described in the context ofstaples removably stored within staple cartridges for use with surgicalstapling instruments. In some circumstances, staples can include wireswhich are deformed when they contact an anvil of the surgical stapler.Such wires can be comprised of metal, such as stainless steel, forexample, and/or any other suitable material. Such embodiments, and theteachings thereof, can be applied to embodiments which include fastenersremovably stored with fastener cartridges for use with any suitablefastening instrument.

Various embodiments described herein are described in the context oflinear end effectors and/or linear fastener cartridges. Suchembodiments, and the teachings thereof, can be applied to non-linear endeffectors and/or non-linear fastener cartridges, such as, for example,circular and/or contoured end effectors. For example, various endeffectors, including non-linear end effectors, are disclosed in U.S.patent application Ser. No. 13/036,647, filed Feb. 28, 2011, entitledSURGICAL STAPLING INSTRUMENT, now U.S. Patent Application PublicationNo. 2011/0226837, which is hereby incorporated by reference in itsentirety. Additionally, U.S. patent application Ser. No. 12/893,461,filed Sep. 29, 2012, entitled STAPLE CARTRIDGE, now U.S. PatentApplication Publication No. 2012/0074198, is hereby incorporated byreference in its entirety. U.S. patent application Ser. No. 12/031,873,filed Feb. 15, 2008, entitled END EFFECTORS FOR A SURGICAL CUTTING ANDSTAPLING INSTRUMENT, now U.S. Pat. No. 7,980,443, is also herebyincorporated by reference in its entirety. U.S. Pat. No. 8,393,514,entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, whichissued on Mar. 12, 2013, is also hereby incorporated by reference in itsentirety.

Examples

A surgical instrument for treating tissue can comprise a handleincluding a trigger, a shaft extending from the handle, an end effector,and an articulation joint, wherein the end effector is rotatably coupledto the shaft by the articulation joint. The surgical instrument canfurther comprise a firing member operably coupled with the trigger,wherein the operation of the trigger is configured to advance the firingmember toward the end effector, and an articulation member operablycoupled with the end effector. The articulation member is selectivelyengageable with the firing member such that the articulation member isoperably engaged with the firing member in an engaged configuration andsuch that the articulation member is operably disengaged from the firingmember in a disengaged configuration, wherein the firing member isconfigured to advance the articulation member toward the end effector torotate the end effector about the articulation joint when thearticulation member and the firing member are in the engagedconfiguration. The surgical instrument can further include a biasingmember, such as a spring, for example, which can be configured tore-center the end effector and re-align the end effector with the shaftalong a longitudinal axis after the end effector has been articulated.

A surgical instrument for treating tissue can comprise an electricmotor, a shaft, an end effector, and an articulation joint, wherein theend effector is rotatably coupled to the shaft by the articulationjoint. The surgical instrument can further comprise a firing driveoperably engageable with the electric motor, wherein the firing drive isconfigured to be advanced toward the end effector and retracted awayfrom the end effector by the electric motor. The surgical instrument canalso comprise an articulation drive operably coupled with the endeffector, wherein the articulation drive is configured to rotate the endeffector in a first direction when the articulation drive is pusheddistally toward the end effector, wherein the articulation drive isconfigured to rotate the end effector in a second direction when thearticulation drive is pulled proximally away from the end effector,wherein the firing drive is selectively engageable with the articulationdrive and is configured to at least one of push the articulation drivedistally toward the end effector and pull the articulation drive awayfrom the end effector when the firing drive is operably engaged with thearticulation drive, and wherein the firing drive can operateindependently of the articulation drive when the firing drive isoperably disengaged from the articulation drive.

A surgical instrument for treating tissue can comprise a shaft, an endeffector rotatably coupled to the shaft, and a firing member configuredto be moved relative to the end effector. The surgical instrument canfurther comprise an articulation member operably coupled with the endeffector, wherein the articulation member is selectively engageable withthe firing member such that the articulation member is operably engagedwith the firing member in an engaged configuration and such that thearticulation member is operably disengaged from the firing member in adisengaged configuration, and wherein the firing member is configured tomove the articulation member relative to the end effector to rotate theend effector when the articulation member and the firing member are inthe engaged configuration. The surgical instrument can further comprisean end effector lock configurable in a locked configuration and anunlocked configuration, wherein the end effector lock is configured tooperably engage the articulation member with the firing member when theend effector lock is in the unlocked configuration.

A surgical instrument that may include at least one drive system that isconfigured to generate control motions and which defines an actuationaxis. The surgical instrument may further comprise at least oneinterchangeable shaft assembly that is configured to be removablycoupled to the at least one drive system in a direction that issubstantially transverse to the actuation axis and transmit the controlmotions from the at least one drive system to a surgical end effectoroperably coupled to the interchangeable shaft assembly. In addition, thesurgical instrument may further include a lockout assembly thatinterfaces with the at least one drive system for preventing actuationof the drive system unless the at least one interchangeable shaftassembly has been operably coupled to the at least one drive system.

A surgical instrument that comprises a shaft assembly that includes anend effector. The end effector may comprise a surgical staple cartridgeand an anvil that is movably supported relative to the surgical staplecartridge. The shaft assembly may further comprise a movable closureshaft assembly that is configured to apply opening and closing motionsto the anvil. A shaft attachment frame may operably support a portion ofthe movable closure shaft assembly thereon. The surgical instrument mayfurther comprise a frame member that is configured for removableoperable engagement with the shaft attachment frame and a closure drivesystem that is operably supported by the frame member and defines anactuation axis. The closure drive system may be configured for operableengagement with the closure shaft assembly in a direction that issubstantially transverse to the actuation axis when the shaft attachmentframe is in operable engagement with the frame member. A lockoutassembly may interface with the closure drive system for preventingactuation of the closure drive system unless the closure shaft assemblyis in operable engagement with the closure drive system.

A surgical system that may comprise a frame that operably supports atleast one drive system for generating control motions upon actuation ofa control actuator. At least one of the drive systems defines anactuation axis. The surgical system may further comprise a plurality ofinterchangeable shaft assemblies wherein each interchangeable shaftassembly may comprise a shaft attachment frame that is configured toremovably operably engage a portion of the frame in a direction that issubstantially transverse to the actuation axis. A first shaft assemblymay be operably supported by the shaft attachment frame and beconfigured for operable engagement with a corresponding one of the atleast one drive systems in the direction that is substantiallytransverse to the actuation axis. A lockout assembly may mechanicallyengage a portion of the corresponding one of the at least one drivesystems and cooperate with the control actuator to prevent actuation ofthe control actuator until the shaft attachment frame is in operableengagement with the frame portion and the first shaft assembly is inoperable engagement with the one of the at least one drive systems.

An interchangeable shaft assembly can be used with a surgicalinstrument. In at least one form, the surgical instrument includes aframe that operably supports a plurality of drive systems and defines anactuation axis. In one form, the shaft assembly comprises a first shaftthat is configured to apply first actuation motions to a surgical endeffector operably coupled thereto, wherein a proximal end of the firstshaft is configured to be operably releasably coupled to a first one ofthe drive systems supported by the frame in a direction that issubstantially transverse to the actuation axis.

An interchangeable shaft assembly can be used with a surgicalinstrument. In at least one form, the surgical instrument may include aframe that defines an actuation axis and operably supports a pluralityof drive systems. Various forms of the shaft assembly may comprise ashaft frame that has a shaft attachment module attached to a proximalend thereof and is configured to be releasably coupled to a portion ofthe frame in a direction that is substantially transverse to theactuation axis. The shaft assembly may further comprise an end effectorthat is operably coupled to a distal end of the shaft frame. In at leastone form, the end effector comprises a surgical staple cartridge and ananvil that is movably supported relative to the surgical staplecartridge. The shaft assembly may further comprise an outer shaftassembly that includes a distal end that is configured to apply controlmotions to the anvil. The outer shaft assembly may include a proximalend that is configured to be operably releasably coupled to a first oneof the drive systems supported by the frame in a direction that issubstantially transverse to the actuation axis. The shaft assembly mayalso comprise a firing shaft assembly that includes a distal cuttingportion that is configured to move between a starting position and anending position within the end effector. The firing shaft assembly mayinclude a proximal end that is configured to be operably releasablycoupled to a firing drive system supported by the frame in the directionthat is substantially transverse to the actuation axis.

A surgical system may comprise a frame that supports a plurality ofdrive systems and defines an actuation axis. The system may furthercomprise a plurality of interchangeable shaft assemblies. Eachinterchangeable shaft assembly may comprise an elongate shaft that isconfigured to apply first actuation motions to a surgical end effectoroperably coupled thereto, wherein a proximal end of the elongate shaftis configured to be operably releasably coupled to a first one of thedrive systems supported by the frame in a direction that issubstantially transverse to the actuation axis. Each interchangeableshaft assembly may further comprise a control shaft assembly that isoperably supported within the elongate shaft and is configured to applycontrol motions to the end effector and wherein a proximal end of thecontrol shaft assembly is configured to be operably releasably coupledto a second one of the drive systems supported by the frame in thedirection that is substantially transverse to the actuation axis andwherein at least one of the surgical end effectors differs from anotherone of the surgical end effectors.

Those of ordinary skill in the art will understand that the varioussurgical instrument arrangements disclosed herein include a variety ofmechanisms and structures for positive alignment and positive lockingand unlocking of the interchangeable shaft assemblies to correspondingportion(s) of a surgical instrument, whether it be a hand-heldinstrument or a robotically-controlled instrument. For example, it maybe desirable for the instrument to be configured to prevent actuation ofone or more (including all) of the drive systems at an incorrect timeduring instrument preparation or while being used in a surgicalprocedure.

A housing for use with a surgical instrument that includes a shaft andan end effector, wherein the surgical instrument includes anarticulation assembly configured to move the end effector relative tothe shaft. The housing comprises a motor operably supported by thehousing, an articulation drive configured to transmit at least onearticulation motion to the articulation assembly to move the endeffector between an articulation home state position and an articulatedposition, a controller in communication with the motor, a first inputconfigured to transmit a first input signal to the controller, whereinthe controller is configured to activate the motor to generate the atleast one articulation motion to move the end effector to thearticulated position in response to the first input signal, and a resetinput configured to transmit a reset input signal to the controller,wherein the controller is configured to activate the motor to generateat least one reset motion to move the end effector to the articulationhome state position in response to the reset input signal.

A surgical instrument comprises a shaft, an end effector extendingdistally from the shaft, wherein the end effector is movable relative tothe shaft between an articulation home state position and an articulatedposition. The end effector comprises a staple cartridge including aplurality of staples and a firing member configured to fire theplurality of staples, wherein the firing member is movable between afiring home state position and a fired position. In addition, thesurgical instrument comprises a housing extending proximally from theshaft. The housing comprises a motor operably supported by the housing,a controller in communication with the motor, and a home state inputconfigured to transmit a home state input signal to the controller,wherein the controller is configured to activate the motor in responseto the home state input signal to effectuate a return of the endeffector to the articulation home state position and a return of thefiring member to the firing home state position.

A surgical instrument comprises an end effector, a shaft extendingproximally from the end effector, an articulation assembly configured tomove the end effector relative to the shaft between an unarticulatedposition, a first articulated position on a first side of theunarticulated position, and a second articulated position on a secondside of the unarticulated position, wherein the first side is oppositethe second side. In addition, the surgical instrument further comprisesa motor, a controller in communication with the motor, a first inputconfigured to transmit a first input signal to the controller, whereinthe controller is configured to activate the motor to move the endeffector to the first articulated position in response to the firstinput signal, a second input configured to transmit a second inputsignal to the controller, wherein the controller is configured toactivate the motor to move the end effector to the second articulatedposition in response to the second input signal, and a reset inputconfigured to transmit a reset input signal to the controller, whereinthe controller is configured to activate the motor to move the endeffector to the unarticulated position in response to the reset inputsignal.

A surgical instrument comprises an end effector, a shaft extendingproximally from the end effector, a firing assembly configured to fire aplurality of staples, an articulation assembly configured to articulatethe end effector relative to the shaft, a locking member movable betweena locked configuration and an unlocked configuration, and a housingextending proximally from the shaft, wherein the housing is removablycouplable to the shaft when the locking member is in the unlockedconfiguration. The housing comprises a motor configured to drive atleast one of the firing assembly and the articulation assembly, and acontroller in communication with the motor, wherein the controller isconfigured to activate the motor to reset at least one of the firingassembly and the articulation assembly to a home state when the lockingmember is moved between the locked configuration and the unlockedconfiguration.

A surgical instrument comprises an end effector, a shaft extendingproximally from the end effector, a firing assembly configured to fire aplurality of staples, an articulation assembly configured to articulatethe end effector relative to the shaft, a locking member movable betweena locked configuration and an unlocked configuration, and a housingextending proximally from the shaft, wherein the housing is removablycouplable to the shaft when the locking member is in the unlockedconfiguration. The housing comprises a motor configured to drive atleast one of the firing assembly and the articulation assembly, acontroller in communication with the motor, and a home state inputoperably coupled to the locking member, wherein the home state input isconfigured to transmit a home state input signal to the controller, andwherein the controller is configured to activate the motor to reset atleast one of the firing assembly and the articulation assembly to a homestate in response to the home state input signal.

A surgical instrument comprises an end effector, a shaft extendingproximally from the end effector, an articulation assembly configured toarticulate the end effector relative to the shaft between a home stateposition and an articulated position, a locking member movable between alocked configuration and an unlocked configuration, and a housingextending proximally from the shaft, wherein the housing is removablycouplable to the shaft when the locking member is in the unlockedconfiguration. The housing comprises a motor configured to drive thearticulation assembly, and a controller in communication with the motor,wherein the controller is configured to activate the motor to effectuatea return of the end effector to the home state position when the lockingmember is moved between the locked configuration and the unlockedconfiguration.

An absolute position sensor system for a surgical instrument cancomprise, one, a sensor element operatively coupled to a movable drivemember of the surgical instrument and, two, a position sensor operablycoupled to the sensor element, the position sensor configured to sensethe absolute position of the sensor element.

A surgical instrument can comprise, one, an absolute position sensorsystem comprising a sensor element operatively coupled to a movabledrive member of the surgical instrument and a position sensor operablycoupled to the sensor element, the position sensor configured to sensethe absolute position of the sensor element and, two, a motoroperatively coupled to the movable drive member.

An absolute position sensor system for a surgical instrument cancomprise, one, a sensor element operatively coupled to a movable drivemember of the surgical instrument, two, a holder to hold the sensorelement, wherein the holder and the sensor element are rotationallycoupled and, three, a position sensor operably coupled to the sensorelement, the position sensor configured to sense the absolute positionof the sensor element, wherein the position sensor is fixed relative tothe rotation of the holder and the sensor element.

A method of compensating for the effect of splay in flexible knife bandson transection length of a surgical instrument comprising a processorand a memory, wherein the surgical instrument comprises stored in thememory characterization data representative of a relationship betweenarticulation angle of an end effector and effective transection lengthdistal of an articulation joint, comprising the steps of, one,accessing, by the processor, the characterization data from the memoryof the surgical instrument, two, tracking, by the processor, thearticulation angle of the end effector during use of the surgicalinstrument and, three, adjusting, by the processor, the targettransection length by the surgical instrument based on the trackedarticulation angle and the stored characterization data.

A surgical instrument can comprise a microcontroller comprising aprocessor configured to execute computer readable instructions and amemory coupled to the microcontroller, wherein the processor isoperative to, one, access from the memory characterization datarepresentative of a relationship between articulation angle of an endeffector and effective transection length distal of an articulationjoint, two, track the articulation angle of the end effector during useof the surgical instrument and, three, adjust the target transectionlength based on the tracked articulation angle and the storedcharacterization data.

A surgical instrument can comprise an end effector comprising anarticulation joint, flexible knife bands configured to translate from aposition proximal of the articulation joint to a position distal of thearticulation joint, a microcontroller comprising a processor operativeto execute computer readable instructions, and a memory coupled to themicrocontroller. The processor is operative to, one, access from thememory characterization date representative of a relationship betweenarticulation angle of an end effector and effective transection lengthdistal of the articulation joint, two, track the articulation angle ofthe end effector during use of the surgical instrument and, three,adjust the target transection length based on the known articulationangle and the stored characterization data.

A shaft assembly for use with a surgical instrument can comprise ashaft, an end effector, an articulation joint connecting the endeffector to the shaft, a firing driver movable relative to the endeffector, an articulation driver configured to articulate the endeffector about the articulation joint, and a clutch collar configured toselectively engage the articulation driver to the firing driver toimpart the movement of the firing driver to the articulation driver.

A surgical instrument can comprise a handle, an electric motorpositioned in the handle, a shaft attachable to the handle, an endeffector, an articulation joint connecting the end effector to theshaft, a firing driver movable toward the end effector, wherein theelectric motor is configured to impart a firing motion to the firingdriver, an articulation driver configured to articulate the end effectorabout the articulation joint, and a rotatable clutch configured toselectively engage the articulation driver to the firing driver toimpart the firing motion to the articulation driver.

A shaft assembly for use with a surgical instrument can comprise ashaft, an end effector, an articulation joint connecting the endeffector to the shaft, a firing driver movable relative to the endeffector, an articulation driver configured to articulate the endeffector about the articulation joint, and a longitudinal clutchconfigured to selectively engage the articulation driver to the firingdriver to impart the movement of the firing driver to the articulationdriver.

A shaft assembly attachable to a handle of a surgical instrument, theshaft assembly comprising a shaft comprising a connector portionconfigured to operably connect the shaft to the handle, an end effector,an articulation joint connecting the end effector to the shaft, a firingdriver movable relative to the end effector when a firing motion isapplied to the firing driver, an articulation driver configured toarticulate the end effector about the articulation joint when anarticulation motion is applied to the articulation driver, and anarticulation lock configured to releasably hold the articulation driverin position, wherein the articulation motion is configured to unlock thearticulation lock.

A shaft assembly attachable to a handle of a surgical instrument, theshaft assembly comprising a shaft including, one, a connector portionconfigured to operably connect the shaft to the handle and, two, aproximal end, an end effector comprising a distal end, an articulationjoint connecting the end effector to the shaft, a firing driver movablerelative to the end effector by a firing motion, an articulation driverconfigured to articulate the end effector about the articulation jointwhen an articulation motion is applied to the articulation driver, andan articulation lock comprising, one, a first one-way lock configured toreleasably resist proximal movement of the articulation driver and, two,a second one-way lock configured to releasably resist distal movement ofthe articulation driver.

A shaft assembly attachable to a handle of a surgical instrumentcomprising a shaft including, one, a connector portion configured tooperably connect the shaft to the handle and, two, a proximal end, anend effector comprising a distal end, an articulation joint connectingthe end effector to the shaft, a firing driver movable relative to theend effector by a firing motion, an articulation driver systemcomprising, one, a proximal articulation driver and, two, a distalarticulation driver operably engaged with the end effector, and anarticulation lock configured to releasably hold the distal articulationdriver in position, wherein the movement of the proximal articulationdriver is configured to unlock the articulation lock and drive thedistal articulation driver.

A shaft assembly attachable to a handle of a surgical instrumentcomprising a shaft including, one, a connector portion configured tooperably connect the shaft to the handle and, two, a proximal end, anend effector comprising a distal end, an articulation joint connectingthe end effector to the shaft, a firing driver movable relative to theend effector by a firing motion, and an articulation driver systemcomprising, one, a first articulation driver and, two, a secondarticulation driver operably engaged with the end effector, and anarticulation lock configured to releasably hold the second articulationdriver in position, wherein an initial movement of the firstarticulation driver is configured to unlock the second articulationdriver and a subsequent movement of the first articulation driver isconfigured to drive the second articulation driver.

A surgical stapler can comprise a handle, a firing member, and anelectric motor. The electric motor can advance the firing member duringa first operating state, retract the firing member during a secondoperating state, and transmit feedback to the handle during a thirdoperating state. Furthermore, the electric motor can comprise a shaftand a resonator mounted on the shaft. The resonator can comprise a body,which can comprise a mounting hole. The mounting hole and the shaft canbe coaxial with a central axis of the resonator, and the center of massof the resonator can be positioned along the central axis. The resonatorcan also comprises a spring extending from the body, a weight extendingfrom the spring, and a counterweight extending from the body.

A surgical instrument for cutting and stapling tissue can comprise ahandle, a firing member extending from the handle, an electric motorpositioned in the handle, and an amplifier comprising a center of mass.The electric motor can be configured to operate in a plurality of statesand can comprise a motor shaft. Furthermore, the amplifier can bemounted to the motor shaft at the center of mass. The amplifier canrotate in a first direction when the electric motor is in a firingstate, and the amplifier can oscillate between the first direction and asecond direction when the electric motor is in a feedback state.

A surgical instrument for cutting and stapling tissue can compriseholding means for holding the surgical instrument, a firing member, andmotor means for operating in a plurality of operating states. Theplurality of operating states can comprise a firing state and a feedbackstate. The motor means can rotate in a first direction during the firingstate and can oscillate between the first direction and a seconddirection during the feedback state. The surgical instrument can furthercomprise feedback generating means for generating haptic feedback. Thefeedback generating means can be mounted to the motor means.

A surgical instrument for cutting and stapling tissue can comprise ahandle, a firing member extending from the handle, and an electric motorpositioned in the handle. The electric motor can be configured tooperate in a plurality of states, and the electric motor can comprise amotor shaft. The surgical instrument can further comprise a resonatorcomprising a center of mass. The resonator can be mounted to the motorshaft at the center of mass. Furthermore, the resonator can be balancedwhen the electric motor is in an advancing state, and the resonator canbe unbalanced when the electric motor is in a feedback state.

A method for operating a surgical stapler can comprise initiating aninitial operating state. A cutting element can be driven distally duringthe initial operating state. The method can also comprise detecting athreshold condition at the cutting element, communicating the thresholdcondition to an operator of the surgical stapler, and receiving one of aplurality of inputs from the operator. The plurality of inputs cancomprise a first input and a second input. The method can also compriseinitiating a secondary operating state in response to the input from theoperator. The cutting element can be driven distally in response to thefirst input and can be retracted proximally in response to the secondinput.

A method for operating a surgical instrument can comprise initiating aninitial surgical function, detecting a clinically-important condition,communicating the clinically-important condition to an operator of thesurgical instrument, accepting an input from the operator, andperforming a secondary surgical function based on the input from theoperator. The secondary surgical function can comprise one of continuingthe initial surgical function or initiating a modified surgicalfunction.

A system for controlling a surgical instrument can comprise a motor, andthe motor can drive a firing member during a firing stroke. The systemcan also comprise a controller for controlling the motor, and thecontroller can be configured to operate in a plurality of operatingstates during the firing stroke. The plurality of operating states cancomprise an advancing state and a retracting state. The system can alsocomprise a sensor configured to detect a force on the firing member,wherein the sensor and the controller can be in signal communication.The controller can pause the firing stroke when the sensor detects aforce on the firing member that exceeds a threshold force. The systemcan also comprise a plurality of input keys, wherein the input keys andthe controller can be in signal communication. The controller can resumethe advancing state when a first input key is activated, and thecontroller can initiate the retracting state when a second input key isactivated.

A surgical instrument can comprise a firing member, a motor configuredto drive the firing member, and a controller for controlling the motor.The controller can be configured to operate the surgical instrument in aplurality of operating states, and the plurality of operating states cancomprise a firing state for driving the firing member and a warnedfiring state for driving the firing member. The surgical instrument canalso comprise means for operating the surgical instrument in the warnedfiring state.

A surgical instrument can comprise a handle, a shaft extending from thehandle, an end effector, and an articulation joint connecting the endeffector to the shaft. The surgical instrument can further comprise afiring driver movable relative to the end effector when a firing motionis applied to the firing driver, an articulation driver configured toarticulate the end effector about the articulation joint when anarticulation motion is applied to the articulation driver, and anarticulation lock configured to releasably hold the articulation driverin position, wherein the articulation motion is configured to unlock thearticulation lock.

A surgical instrument can comprise at least one drive system configuredto generate control motions upon actuation thereof and defining anactuation axis, at least one interchangeable shaft assembly configuredto be removably coupled to the at least one drive system in a directionthat is substantially transverse to the actuation axis and transmit thecontrol motions from the at least one drive system to a surgical endeffector operably coupled to said interchangeable shaft assembly, and alockout assembly comprising interfacing means for interfacing with theat least one drive system and for preventing actuation of the drivesystem unless the at least one interchangeable shaft assembly has beenoperably coupled to the at least one drive system.

A surgical instrument including a shaft assembly can comprise an endeffector comprising a surgical staple cartridge and an anvil, whereinone of the anvil and the surgical staple cartridge is movable relativeto the other of the anvil and the surgical staple cartridge upon theapplication of an opening motion and a closing motion. The surgicalinstrument can further comprise a movable closure shaft assemblyconfigured to apply the opening motion and the closing motion, a shaftattachment frame operably supporting a portion of the movable closureshaft assembly thereon, a frame member configured for removable operableengagement with the shaft attachment frame, a closure drive systemoperably supported by the frame member and defining an actuation axis,the closure drive system configured for operable engagement with theclosure shaft assembly in a direction that is substantially transverseto the actuation axis when the shaft attachment frame is in operableengagement with the frame member, and a lockout assembly interfacingwith the closure drive system for preventing actuation of the closuredrive system unless the closure shaft assembly is in operable engagementwith the closure drive system.

A surgical instrument can comprise an end effector, a shaft extendingproximally from the end effector, and an articulation assemblyconfigured to move the end effector relative to the shaft between anunarticulated position, a first range of articulated positions on afirst side of the unarticulated position, and a second range ofarticulated positions on a second side of the unarticulated position,wherein the first side is opposite the second side. The surgicalinstrument can further comprise a motor, a controller in communicationwith the motor, a first input configured to transmit a first inputsignal to the controller, wherein the controller is configured toactivate the motor to move the end effector to an articulated positionwithin the first range of articulated positions in response to the firstinput signal, a second input configured to transmit a second inputsignal to the controller, wherein the controller is configured toactivate the motor to move the end effector to an articulated positionwithin the second range of articulated positions in response to thesecond input signal and a reset input configured to transmit a resetinput signal to the controller, wherein the controller is configured toactivate the motor to move the end effector to the unarticulatedposition in response to the reset input signal.

While various details have been set forth in the foregoing description,the various embodiments may be practiced without these specific details.For example, for conciseness and clarity selected aspects have beenshown in block diagram form rather than in detail. Some portions of thedetailed descriptions provided herein may be presented in terms ofinstructions that operate on data that is stored in a computer memory.Such descriptions and representations are used by those skilled in theart to describe and convey the substance of their work to others skilledin the art. In general, an algorithm refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities which may, though need notnecessarily, take the form of electrical or magnetic signals capable ofbeing stored, transferred, combined, compared, and otherwisemanipulated. It is common usage to refer to these signals as bits,values, elements, symbols, characters, terms, numbers, or the like.These and similar terms may be associated with the appropriate physicalquantities and are merely convenient labels applied to these quantities.

Unless specifically stated otherwise as apparent from the foregoingdiscussion, it is appreciated that, throughout the foregoingdescription, discussions using terms such as “processing” or “computing”or “calculating” or “determining” or “displaying” or the like, refer tothe action and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

In a general sense, those skilled in the art will recognize that thevarious aspects described herein which can be implemented, individuallyand/or collectively, by a wide range of hardware, software, firmware, orany combination thereof can be viewed as being composed of various typesof “electrical circuitry.” Consequently, as used herein “electricalcircuitry” includes, but is not limited to, electrical circuitry havingat least one discrete electrical circuit, electrical circuitry having atleast one integrated circuit, electrical circuitry having at least oneapplication specific integrated circuit, electrical circuitry forming ageneral purpose computing device configured by a computer program (e.g.,a general purpose computer configured by a computer program which atleast partially carries out processes and/or devices described herein,or a microprocessor configured by a computer program which at leastpartially carries out processes and/or devices described herein),electrical circuitry forming a memory device (e.g., forms of randomaccess memory), and/or electrical circuitry forming a communicationsdevice (e.g., a modem, communications switch, or optical-electricalequipment). Those having skill in the art will recognize that thesubject matter described herein may be implemented in an analog ordigital fashion or some combination thereof

The foregoing detailed description has set forth various embodiments ofthe devices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, or examples can be implemented,individually and/or collectively, by a wide range of hardware, software,firmware, or virtually any combination thereof. In one embodiment,several portions of the subject matter described herein may beimplemented via Application Specific Integrated Circuits (ASICs), FieldProgrammable Gate Arrays (FPGAs), digital signal processors (DSPs), orother integrated formats. However, those skilled in the art willrecognize that some aspects of the embodiments disclosed herein, inwhole or in part, can be equivalently implemented in integratedcircuits, as one or more computer programs running on one or morecomputers (e.g., as one or more programs running on one or more computersystems), as one or more programs running on one or more processors(e.g., as one or more programs running on one or more microprocessors),as firmware, or as virtually any combination thereof, and that designingthe circuitry and/or writing the code for the software and or firmwarewould be well within the skill of one of skill in the art in light ofthis disclosure. In addition, those skilled in the art will appreciatethat the mechanisms of the subject matter described herein are capableof being distributed as a program product in a variety of forms, andthat an illustrative embodiment of the subject matter described hereinapplies regardless of the particular type of signal bearing medium usedto actually carry out the distribution. Examples of a signal bearingmedium include, but are not limited to, the following: a recordable typemedium such as a floppy disk, a hard disk drive, a Compact Disc (CD), aDigital Video Disk (DVD), a digital tape, a computer memory, etc.; and atransmission type medium such as a digital and/or an analogcommunication medium (e.g., a fiber optic cable, a waveguide, a wiredcommunications link, a wireless communication link (e.g., transmitter,receiver, transmission logic, reception logic, etc.), etc.).

One skilled in the art will recognize that the herein describedcomponents (e.g., operations), devices, objects, and the discussionaccompanying them are used as examples for the sake of conceptualclarity and that various configuration modifications are contemplated.Consequently, as used herein, the specific exemplars set forth and theaccompanying discussion are intended to be representative of their moregeneral classes. In general, use of any specific exemplar is intended tobe representative of its class, and the non-inclusion of specificcomponents (e.g., operations), devices, and objects should not be takenlimiting.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations are not expressly set forth herein for sakeof clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures may beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents, and/or wirelessly interactable, and/or wirelesslyinteracting components, and/or logically interacting, and/or logicallyinteractable components.

In some instances, one or more components may be referred to herein as“configured to,” “configurable to,” “operable/operative to,”“adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Thoseskilled in the art will recognize that “configured to” can generallyencompass active-state components and/or inactive-state componentsand/or standby-state components, unless context requires otherwise.

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flows are presented in asequence(s), it should be understood that the various operations may beperformed in other orders than those which are illustrated, or may beperformed concurrently. Examples of such alternate orderings may includeoverlapping, interleaved, interrupted, reordered, incremental,preparatory, supplemental, simultaneous, reverse, or other variantorderings, unless context dictates otherwise. Furthermore, terms like“responsive to,” “related to,” or other past-tense adjectives aregenerally not intended to exclude such variants, unless context dictatesotherwise.

Although various embodiments have been described herein, manymodifications, variations, substitutions, changes, and equivalents tothose embodiments may be implemented and will occur to those skilled inthe art. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications and variations as falling within the scope of thedisclosed embodiments. The following claims are intended to cover allsuch modification and variations.

The disclosure of U.S. Patent Application Publication No. 2010/0264194,entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE ENDEFFECTOR, filed on Apr. 22, 2010, is incorporated herein by reference inits entirety. The disclosure of U.S. patent application Ser. No.13/524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AFIRING DRIVE, filed on Jun. 15, 2012, is incorporated herein byreference in its entirety.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more embodiments has been presented for purposes ofillustration and description. It is not intended to be exhaustive orlimiting to the precise form disclosed. Modifications or variations arepossible in light of the above teachings. The one or more embodimentswere chosen and described in order to illustrate principles andpractical application to thereby enable one of ordinary skill in the artto utilize the various embodiments and with various modifications as aresuited to the particular use contemplated. It is intended that theclaims submitted herewith define the overall scope.

What is claimed is:
 1. A housing for use with a surgical instrument thatincludes a shaft and an end effector, wherein the surgical instrumentincludes an articulation assembly configured to move the end effectorrelative to the shaft, the housing comprising: a motor operablysupported by the housing; an articulation drive configured to transmitat least one articulation motion to the articulation assembly to movethe end effector between an articulation home state position and anarticulated position; a controller in communication with the motor; afirst input configured to transmit a first input signal to thecontroller, wherein the controller is configured to activate the motorto generate the at least one articulation motion to move the endeffector to the articulated position in response to the first inputsignal; and a reset input configured to transmit a reset input signal tothe controller, wherein the controller is configured to activate themotor to generate at least one reset motion to move the end effector tothe articulation home state position in response to the reset inputsignal.
 2. The housing of claim 1, wherein the housing comprises aportion of a handle.
 3. The housing of claim 1, wherein the housingfurther comprises a second input configured to transmit a second inputsignal to the controller, wherein the controller is configured to movethe end effector in a first direction in response to the first inputsignal and in a second direction opposite the first direction inresponse to the second input signal.
 4. The housing of claim 3, whereinthe reset input signal comprises a simultaneous transmission of thefirst input signal and the second input signal to the controller.
 5. Thehousing of claim 3, wherein the housing comprises a rocker switch whichincludes the first input, the second input, and the reset input.
 6. Thehousing of claim 1, wherein the articulation home state positioncomprises positioning the end effector in longitudinal alignment withthe shaft.
 7. The housing of claim 1, wherein the housing is removablycouplable to the shaft.
 8. A surgical instrument, comprising: a shaft;an end effector extending distally from the shaft, wherein the endeffector is movable relative to the shaft between an articulation homestate position and an articulated position, the end effector,comprising: a staple cartridge including a plurality of staples; and afiring member configured to fire the plurality of staples, wherein thefiring member is movable between a firing home state position and afired position; and a housing extending proximally from the shaft, thehousing comprising: a motor operably supported by the housing; acontroller in communication with the motor; and a home state inputconfigured to transmit a home state input signal to the controller,wherein the controller is configured to activate the motor in responseto the home state input signal to effectuate a return of the endeffector to the articulation home state position and a return of thefiring member to the firing home state position.
 9. The surgicalinstrument of claim 8, wherein the housing further comprises a firingdrive, wherein the firing drive is operably coupled to the motor, andwherein the firing drive is configured to transmit at least oneactuation motion from the motor to the firing member to effectuate thereturn of the firing member to the firing home state position.
 10. Thesurgical instrument of claim 9, further comprising an articulation drivereleasably couplable to the firing drive.
 11. The surgical instrument ofclaim 10, wherein the motor is configured to motivate the firing driveto move the articulation drive to effectuate the return the end effectorto the articulation home state position when the firing drive is coupledto the articulation drive.
 12. The surgical instrument of claim 10,wherein the controller is configured to activate the motor to move thefiring drive into a coupling engagement with the articulation drive. 13.The surgical instrument of claim 8, wherein the articulation home stateposition comprises positioning the end effector in longitudinalalignment with the shaft.
 14. The surgical instrument of claim 8,wherein the housing is removably couplable to the shaft.
 15. Thesurgical instrument of claim 8, wherein the housing comprises a handle.16. The surgical instrument of claim 8, wherein the housing comprises adisplay, and wherein controller is operably coupled to and configured totransmit information about the surgical instrument through the display.17. A surgical instrument, comprising: an end effector; a shaftextending proximally from the end effector; an articulation assemblyconfigured to move the end effector relative to the shaft between anunarticulated position, a first articulated position on a first side ofthe unarticulated position, and a second articulated position on asecond side of the unarticulated position, wherein the first side isopposite the second side; a motor; a controller in communication withthe motor; a first input configured to transmit a first input signal tothe controller, wherein the controller is configured to activate themotor to move the end effector to the first articulated position inresponse to the first input signal; a second input configured totransmit a second input signal to the controller, wherein the controlleris configured to activate the motor to move the end effector to thesecond articulated position in response to the second input signal; anda reset input configured to transmit a reset input signal to thecontroller, wherein the controller is configured to activate the motorto move the end effector to the unarticulated position in response tothe reset input signal.
 18. The surgical instrument of claim 17, whereinthe unarticulated position comprises positioning the end effector inlongitudinal alignment with the shaft.
 19. The surgical instrument ofclaim 17 further comprising a handle.
 20. The surgical instrument ofclaim 19, wherein the handle is removably couplable to the shaft.
 21. Asurgical instrument, comprising: an end effector; a shaft extendingproximally from the end effector; an articulation assembly configured tomove the end effector relative to the shaft between an unarticulatedposition, a first range of articulated positions on a first side of theunarticulated position, and a second range of articulated positions on asecond side of the unarticulated position, wherein the first side isopposite the second side; a motor; a controller in communication withthe motor; a first input configured to transmit a first input signal tothe controller, wherein the controller is configured to activate themotor to move the end effector to an articulated position within thefirst range of articulated positions in response to the first inputsignal; a second input configured to transmit a second input signal tothe controller, wherein the controller is configured to activate themotor to move the end effector to an articulated position within thesecond range of articulated positions in response to the second inputsignal; and a reset input configured to transmit a reset input signal tothe controller, wherein the controller is configured to activate themotor to move the end effector to the unarticulated position in responseto the reset input signal.